BR102014006192A2 - hinged surgical instrument comprising a joint lock - Google Patents

Abstract

hinged surgical instrument comprising a joint lock. The present invention relates to a surgical instrument which may comprise a handle, a stem extending from the handle and an end actuator rotationally coupled to the stem by a pivot joint. The surgical instrument may further include a pivot actuator configured to pivot the end actuator around the pivot joint, and a pivot lock that can be configured to selectively resist the unintentional pivot of the end actuator. Under various circumstances, the action of the pivot drive may unlock the pivot lock. In certain circumstances, the pivot lock may comprise a first one-way lock configured to resist movement of the pivot actuator in a first direction, and a second unidirectional lock configured to resist movement of the pivot actuator in a second direction.

Description

Report of the Invention Patent for "ARTICULABLE SURGICAL INSTRUMENT UNDERSTANDING A JOINT LOCK".

BACKGROUND

The present invention relates to surgical instruments and, in various embodiments, surgical cutting and stapling instruments, and staple cartridges therefor, which are designed to cut and staple tissues.

BRIEF DESCRIPTION OF DRAWINGS

[002] The features and advantages of this invention, and the manner of obtaining them, will become more apparent, and the invention itself will be better understood by reference to the following description of embodiments of the invention, taken in conjunction with the invention. accompanying drawings, in which: Figure 1 is a perspective view of a surgical instrument comprising a handle, a stem and a pivotable end actuator;

[004] Figure 2 is an elevation view of a surgical instrument of Figure 1;

[005] Figure 3 is a plan view of the surgical instrument of Figure 1;

[006] Figure 4 is a cross-sectional view of the end actuator and stem of the surgical instrument of Figure 1;

[007] Figure 5 is a detail view of a pivot joint that rotatably connects to the rod and end actuator of Figure 1 and illustrates the end actuator in a neutral or centered position;

[Ò08] Figure 6 is a cross-sectional view of a joint control of the surgical instrument of Figure 1 in a neutral, or centered position;

Figure 7 is an exploded view of the end actuator, elongate stem and pivot joint of the surgical instrument of Figure 1;

Figure 8 is a cross-sectional view of the end actuator, elongated stem and pivot joint of the surgical instrument of Figure 1;

Figure 9 is a perspective view of the end actuator, elongated stem and pivot joint of the surgical instrument of Figure 1;

Figure 10 represents the end actuator of the surgical instrument of Figure 1 pivoted around the pivot joint;

[0013] Figure 11 is a cross-sectional view of the pivot control of Figure 6 activated to move the end actuator as shown in Figure 12;

Figure 12 is a perspective view of a surgical instrument comprising a handle, a stem and a pivotable end actuator;

Figure 13 is a side view of the surgical instrument of Figure 12;

Figure 14 is a perspective view of a triggering element and a pinion gear positioned within the cable of Figure 12;

Figure 15 is a perspective view of the triggering element and pinion gear of Figure 14 and a gear reducer assembly operably engaged with the pinion gear;

Figure 16 is a perspective view of the cable of Figure 12, with portions of it removed to illustrate the firing element and pinion gear of Figure 14, the gear reducer assembly of Figure 15, and an electric motor configured to drive the trigger element distally and / or proximally, depending on the direction in which the electric motor is rotated;

Figure 17 is a perspective view of a surgical instrument comprising a cable, a stem, an end actuator and a pivot joint connecting the end actuator to the illustrated stem, with portions of the cable removed for illustration purposes. ;

Figure 18 is a cross-sectional view of the surgical instrument of Figure 17;

Figure 19 is an exploded view of the surgical instrument of Figure 17;

Figure 20 is a detail cross-sectional view of the surgical instrument of Figure 17, illustrated with the end actuator in an open configuration, the pivot joint in an unlocked configuration, and a cable pivot lock actuator. of illustrated surgical instrument in an unlocked configuration;

[0023] Figure 21 is a cross-sectional detail view of the surgical instrument of Figure 17, illustrating the end actuator in an open and pivotal configuration, the pivot joint in an unlocked configuration, and a pivot actuator engaged with a triggering element of the surgical instrument of Figure 17, wherein movement of the triggering element may drive the pivot actuator and pivot the end actuator;

[0024] Figure 22 is a detail cross-sectional view of the surgical instrument of Figure 17, illustrating the end actuator in a closed configuration, the pivot joint in an unlocked configuration, and an end actuator closing drive being enabled to close the end actuator and move the pivot lock actuator to a locked configuration;

Figure 22A is a detail cross-sectional view of the handle of the surgical instrument of Figure 17, illustrated in the embodiment described with respect to Figure 22;

Figure 23 is a detailed cross-sectional view of the surgical instrument of Figure 17, illustrating the end actuator in a closed configuration and the pivot joint in a locked configuration, wherein the activated closing drive prevents the pivot lock actuator is moved to its unlocked configuration illustrated in Figures 20 to 22;

Figure 24A is a plan view of the pivot joint of the surgical instrument of Figure 17, illustrated in a locked configuration;

Figure 24B is a plan view of the pivot joint of the surgical instrument of Figure 17, illustrated in an unlocked configuration;

[0029] Figure 25 is a cross-sectional detail view of the surgical instrument cable of Figure 17, illustrating the pivot drive disconnected from the triggering element by the closing drive;

[0030] Figure 26 is a cross-sectional detail view of the surgical instrument of Figure 17, illustrating the triggering element in a position at least partially triggered, and the pivot actuator disconnected from the triggering element by the closing drive;

[0031] Figure 27 is a detail cross-sectional view of the surgical instrument of Figure 17, illustrating the end actuator in a closed configuration, the pivot joint, and the pivot joint actuator in a locked configuration, and the member. in a retracted position;

Figure 28 is a detail cross-sectional view of the surgical instrument of Figure 17, illustrating the end actuator in an open configuration, the end actuator closing drive in a retracted position, and the pivot joint in a locked configuration;

[0033] Figure 29 is a detail cross-sectional view of the surgical instrument of Figure 17, illustrating the end actuator in an open configuration and the pivot joint and the pivot joint actuator in an unlocked configuration, where the pivot actuator can be reconnected to the trigger drive and used to pivot the end actuator again;

Figure 30 is an exploded view of a rod and an end actuator of a surgical instrument, including an alternative pivot lock arrangement;

[0035] Figure 31 is a cross-sectional elevational view of the end actuator and stem of the surgical instrument of Figure 30, illustrating the end actuator in an unlocked configuration;

[0036] Figure 32 is a cross-sectional elevational view of the end actuator and stem of the surgical instrument of Figure 30, illustrating the end actuator in a locked configuration;

Figure 33 is an overall view of a form of surgical system, including a surgical instrument and a plurality of interchangeable stem assemblies;

Figure 34 is a perspective view of a surgical instrument cable coupled to an interchangeable stem assembly;

Figure 35 is an exploded perspective view of the surgical instrument handle of Figure 34;

Figure 36 is a side elevational view of the cable of Figure 35 with a portion of the cable compartment removed;

[0041] Figure 37 is an exploded perspective view of an interchangeable rod assembly;

Fig. 38 is a side elevational assembly view of a portion of the cable and interchangeable rod assembly of Fig. 34, illustrating the alignment of these components prior to their coupling, and portions thereof omitted for clarity;

Figure 39 is a perspective view of a portion of an interchangeable stem assembly prior to attachment to a handle of a surgical instrument;

Figure 40 is a side view of a portion of an interchangeable rod assembly coupled to a cable with the locking jaw in a locked or engaged position, with a portion of the cable frame retaining module;

Figure 41 is another side view of the interchangeable rod assembly and cable of Figure 40, with the locking jaw in the disengaged or unlocked position;

Fig. 42 is a top view of a portion of an interchangeable rod assembly and cable prior to being coupled;

Figure 43 is another top view of the interchangeable rod assembly and cable of Figure 42 coupled;

Figure 44 is a side elevational view of an interchangeable rod assembly aligned with a surgical instrument cable prior to being coupled;

Figure 45 is a front perspective view of the interchangeable stem assembly and surgical instrument handle of Figure 44, with portions removed for clarity;

Figure 46 is a side view of a portion of an interchangeable rod assembly aligned with a portion of a surgical instrument cable prior to being coupled and portions thereof omitted for clarity;

[0051] Figure 47 is another side elevational view of the Interchangeable rod assembly and cable of Figure 46, wherein the rod assembly is in partial coupling engagement with the cable;

Figure 48 is another side elevational view of the interchangeable rod assembly and cable of Figures 46 and 47 after being coupled;

Figure 49 is another side elevational view of a portion of an interchangeable rod assembly aligned with a portion of the cable prior to beginning the coupling process;

Figure 50 is a top view of a portion of another interchangeable rod assembly and a portion of another surgical instrument frame arrangement;

Figure 51 is another top view of the interchangeable rod assembly and frame portion of Figure 50 after being coupled;

Fig. 52 is an exploded perspective view of the interchangeable rod assembly and frame portion of Fig. 50;

[0057] Figure 53 is another exploded perspective view of the Interchangeable rod assembly and frame portion of Figure 52, with the rod assembly stem clamping module in alignment with the frame portion clamping module before coupling;

[0058] Figure 54 is a side elevational view of the interchangeable rod assembly and frame portion of Figure 52;

Figure 55 is a perspective view of the interchangeable rod assembly and frame portion of Figures 53 and 54 after being coupled;

Fig. 56 is a side elevational view of the interchangeable rod assembly and frame portion of Fig. 55;

Figure 57 is another perspective view of the interchangeable rod assembly and frame portion of Figures 55 and 56, with portions thereof omitted for clarity;

Fig. 58 is a top view of a portion of another interchangeable rod assembly and a frame portion of a surgical instrument prior to being coupled;

Fig. 59 is another top view of the interchangeable rod assembly and frame portion of Fig. 58 after being coupled;

Figure 60 is a perspective view of the interchangeable rod assembly and structure of Figures 58 and 59 before being coupled;

Figure 61 is another perspective view of the interchangeable rod assembly and frame portion of Figures 58 to 60 after being coupled;

Fig. 62 is another perspective view of the interchangeable rod assembly and frame portion of Figures 58 to 60 after being coupled, with portions of the rod assembly shown in cross section;

Fig. 63 is an exploded perspective view of another end actuator rod assembly and frame portion of a surgical instrument;

Fig. 64 is an exploded top assembly view of the end actuator rod assembly and frame portion of Fig. 63;

Figure 65 is another exploded perspective assembly view of the end actuator rod assembly and frame portion of Figures 63 and 64;

Fig. 66 is a perspective view of the end actuator rod assembly and frame portion of Figs. 63 to 65 after being coupled;

Fig. 67 is a side elevational view of the end actuator rod assembly and frame portion of Fig. 66, with portions thereof omitted for clarity;

Fig. 68 is an exploded top assembly view of another end actuator rod assembly and frame portion of another surgical instrument;

Fig. 69 is an exploded perspective view of the end actuator rod assembly and frame portion of Fig. 68;

Figure 70 is another perspective view of the end actuator rod assembly and frame portion of Figures 68 and 69, with the end actuator rod assembly prior to being locked in engagement with the frame portion;

Fig. 71 is a top view of the end actuator rod assembly and frame portion of Fig. 70;

Figure 72 is a top view of the end actuator rod assembly and frame portion of Figures 68 to 71 after being coupled;

Fig. 73 is a side elevational view of the end actuator rod assembly and frame portion of Fig. 72;

Fig. 74 is a perspective view of the end actuator rod assembly and frame portion of Figs. 72 and 73;

Figure 75 is an exploded assembly view of an interchangeable rod assembly and corresponding cable, with some components thereof shown in cross section;

[0080] Figure 76 is a partial cross-sectional perspective view of portions of the end actuator rod assembly and cable of Figure 75;

Figure 77 is a partial perspective view of the coupled end actuator rod assembly and cable of Figures 75 and 76, with various components omitted for clarity;

Fig. 78 is a side elevational view of the end actuator rod assembly and cable of Fig. 77;

[0083] Figure 79 is a side elevational view of the end actuator rod assembly and cable of Figures 75 to 78 coupled, with the lock drive in a non-activated position, and with some components shown in cross section;

[0084] Figure 80 is another side elevational view of the end actuator rod assembly and cable of Figure 79, with the closing drive in a fully activated position;

Fig. 81 is an exploded assembly view of an interchangeable rod assembly and corresponding cable, with some components thereof omitted for clarity, and wherein the closing drive system is in locked orientation;

[0086] Figure 82 is a side view of the coupled end-actuator rod assembly and cable of Figure 81, with several components omitted for clarity, and where the closing drive system is in an unlocked position and not activated;

Fig. 83 is a side view of the end actuator rod assembly and cable of Fig. 82, with various components shown in cross section for clarity;

[0088] Figure 84 is a side view of the coupled end actuator rod assembly and cable of Figures 81 through 83, with various components omitted for clarity, and wherein the closing drive system is in an activated position. ;

[0089] Figure 85 is a side view of the end actuator rod assembly and cable of Figure 84, with various components shown in cross section for clarity;

Fig. 86 is an exploded perspective view of a portion of an interchangeable rod assembly and a cable portion of a surgical instrument cable;

Fig. 87 is a side elevational view of the interchangeable rod assembly and cable portions of Fig. 86;

Figure 88 is another exploded perspective view of portions of the interchangeable rod assembly and cable of Figures 86 and 87, with portions of the interchangeable rod assembly shown in cross section for clarity;

Figure 89 is another side elevational view of portions of the interchangeable rod assembly and cable of Figures 86 to 88, with portions thereof shown in cross section for clarity;

Fig. 90 is a side elevational view of the portions of the interchangeable rod assembly and cable of Figures 86 to 89 after the interchangeable rod assembly has been operably coupled to the cable, and with portions thereof shown in FIG. cross section for clarity;

[0095] Figure 91 is another side elevational view of portions of the interchangeable rod assembly and the cable attached thereto, with the closing drive system in a fully activated position;

Fig. 92 is an exploded perspective view of a portion of another interchangeable stem assembly and a cable portion of another surgical instrument;

Fig. 93 is a side elevational view of portions of the interchangeable rod assembly and cable of Fig. 92 in alignment prior to being coupled;

Fig. 94 is another exploded perspective view of the interchangeable rod assembly and cable of Figures 92 and 93, with some portions thereof shown in cross section;

Figure 95 is another perspective view of the interchangeable rod assembly and cable of Figures 92 to 94 coupled in operable engagement;

Fig. 96 is a side elevational view of the interchangeable rod assembly and cable of Fig. 95;

Figure 97 is another side elevational view of the interchangeable rod assembly and cable of Figure 96, with some components thereof shown in cross section;

[00102] Figure 98 is another side elevational view of the interchangeable rod assembly and cable of Figures 92 to 96, with the closing trigger in a fully activated position;

Fig. 99 is a perspective view of a portion of another interchangeable rod assembly including an arrangement with rod locking assembly;

Fig. 100 is a perspective view of the arrangement with the rod locking assembly shown in Fig. 99 in a locked position with the intermediate portion of the triggering member of the triggering element of an interchangeable rod assembly;

Fig. 101 is another perspective view of the rod locking assembly and the intermediate portion of the triggering element, with the rod locking assembly in an unlocked position;

[00106] Figure 102 is a schematic illustrating, one, a clutch assembly for operably connecting a pivot drive to a surgical instrument trigger drive, and two a pivot lock configured to releasably retain the pivot actuator and one end actuator of the surgical instrument in position, wherein Fig. 102 illustrates the clutch assembly in a engaged position and the pivot lock in a locked condition;

Fig. 103 is a schematic illustrating the clutch assembly of Fig. 102 in its engaged position and the pivot lock of Fig. 102 in a first unlocked condition, allowing pivot of the end actuator of Fig. 102 into a first direction;

Fig. 104 is a schematic illustrating the clutch assembly of Fig. 102 in its engaged position and the pivot lock of Fig. 102 in a second unlocked condition, allowing pivot of the end actuator of Fig. 102 into a second direction;

Fig. 104A is an exploded view of the clutch assembly and pivot lock of Fig. 102;

Fig. 105 is a partial perspective view of a rod assembly including the clutch assembly of Fig. 102 in its engaged position, with portions of the rod assembly removed for illustration purposes;

Fig. 106 is a partial top plan view of the rod assembly of Fig. 105 illustrating the clutch assembly of Fig. 102 in its engaged position;

Fig. 107 is a partial bottom plan view of the rod assembly of Fig. 105, illustrating the clutch assembly of Fig. 102 in its engaged position;

Fig. 108 is a partial perspective view of a rod assembly of Fig. 105, illustrating the clutch assembly of Fig. 102 in its engaged position, with additional portions removed for illustration purposes;

Fig. 109 is a partial perspective view of a shank assembly of Fig. 105, illustrating the clutch assembly of Fig. 102 in its disengaged position, with additional portions removed for illustration purposes;

Fig. 110 is a partial perspective view of the rod assembly of Fig. 105, illustrating the clutch assembly of Fig. 102 moved to its disengaged position by a rod assembly closing drive;

Fig. 111 is a partial plan view of a rod assembly of Fig. 105, illustrating the clutch assembly of Fig. 102 in its engaged position, with additional portions removed for illustration purposes;

Fig. 112 is a partial plan view of a rod assembly of Fig. 105, illustrating the clutch assembly of Fig. 102 in its disengaged position, with additional portions removed for illustration purposes;

Fig. 113 is a plan view of an alternative embodiment of a pivot lock illustrated in a locked condition;

Fig. 114 is an exploded view of the pivot lock of Fig. 113;

Fig. 115 is a cross-sectional view of another alternative embodiment of a pivot lock illustrated in the locked condition;

Fig. 116 is an exploded view of the pivot lock of Fig. 114;

Fig. 117 is a perspective view of another alternative embodiment of a pivot lock illustrated in the locked condition;

Fig. 118 is an exploded view of the pivot lock of Fig. 117;

Fig. 119 is an elevational view of the pivot lock of Fig. 117 illustrating the pivot lock shown in locked condition;

[00125] Figure 120 is an elevation view of the pivot lock of Fig. 117, illustrating the pivot lock in a first unlocked condition for pivoting an end actuator in a first direction;

Fig. 121 is an elevational view of the pivot lock of Fig. 117, illustrating the pivot lock in a second unlocked condition for pivoting an end actuator in a second direction;

Fig. 122 is an exploded view of the pivot lock of Fig. 117;

Fig. 123 is a perspective view of a first pivot lock locking cam of Fig. 117;

Fig. 124 is a perspective view of a second pivot lock locking cam of Fig. 117;

Figure 125 is a perspective view of another alternative embodiment of a pivot lock illustrated in the locked condition;

Fig. 126 is an exploded view of the pivot lock of Fig. 125;

Fig. 127 is a cross-sectional elevational view of the pivot lock of Fig. 125 illustrating the pivot lock in a first unlocked condition for pivoting an end actuator in a first direction;

Fig. 128 is a cross-sectional elevational view of the pivot lock of Fig. 125 illustrating the pivot lock in locked condition;

[00134] Figure 129 is a cross-sectional elevational view of the pivot lock of Figure 125, illustrating the pivot lock in a second unlocked condition for pivoting an end actuator in a second direction;

Fig. 130 is a cross-sectional elevational view of the pivot lock of Fig. 125 illustrating the pivot lock in locked condition;

Figure 131 is a perspective view of a rod assembly;

Figure 132 is an exploded view of the stem assembly of Figure 131, illustrating an alternative embodiment of a clutch assembly for operably connecting a pivot drive with the stem assembly firing drive;

Fig. 133 is another exploded view of the rod assembly of Fig. 131;

Figure 134 is a partial exploded view of the rod assembly of Figure 131, illustrated with portions removed for illustration purposes;

Figure 135 is an end view of the rod assembly of Figure 131, illustrated with portions removed for illustration purposes;

Fig. 136 is another end view of the rod assembly of Fig. 131, illustrated with portions removed for illustration purposes;

[00142] Figure 137 is a cross-sectional elevational view of the rod assembly of Figure 131;

Fig. 138 is a partial cross-sectional perspective view of the rod assembly of Fig. 131;

[00144] Figure 139 is another partial cross-sectional view of the rod assembly of Figure 131;

Fig. 140 is a perspective view of the rod assembly of Fig. 131, illustrating the clutch assembly in a engaged position, and illustrated with portions removed for clarity; specifically, a clutch actuator is illustrated, while a clutch sleeve, a drum switch, a proximal pivot actuator, and a closure tube are not illustrated;

Fig. 141 is a perspective view of the rod assembly of Fig. 131, illustrating the clutch assembly in a engaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator and clutch sleeve are illustrated, while the drum switch, proximal pivot driver and closing tube are not illustrated;

[00147] Figure 142 is a perspective view of the stem assembly of Figure 131, illustrating the clutch assembly in a disengaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator and clutch sleeve are illustrated, while the drum switch, proximal pivot driver and closing tube are not illustrated;

Fig. 143 is a perspective view of the rod assembly of Fig. 131, illustrating the clutch assembly in a disengaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator, clutch sleeve and closure tube are illustrated, while the drum switch and proximal pivot driver are not illustrated;

[00149] Figure 144 is a perspective view of the stem assembly of Figure 131, illustrating the clutch assembly in a disengaged position; the clutch actuator, clutch sleeve, closing tube, drum switch and proximal pivot drive are illustrated;

Fig. 145 is a perspective view of the rod assembly of Fig. 131, illustrating the clutch assembly in a engaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator, clutch sleeve and proximal pivot actuator are illustrated, while the drum switch and closing tube are not illustrated;

Fig. 146 is a perspective view of the rod assembly of Fig. 131, illustrating the clutch assembly in a engaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator, clutch sleeve, proximal pivot actuator, and closure tube are illustrated, while the drum switch is not illustrated; furthermore, the rod assembly pivot drive system is illustrated in a centralized, or non-articulated condition;

Fig. 147 is a perspective view of the rod assembly of Fig. 131, illustrating the clutch assembly in a engaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator, clutch sleeve and proximal pivot actuator are illustrated, while the drum switch and closing tube are not illustrated; furthermore, the rod assembly pivot drive system is illustrated in a condition where a rod assembly end actuator would be pivoted to the left of a longitudinal axis of the rod assembly;

[00153] Figure 148 is a perspective view of the stem assembly of Figure 131, illustrating the clutch assembly in a engaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator, clutch sleeve and proximal pivot actuator are illustrated, while the drum switch and closing tube are not illustrated; furthermore, the rod assembly pivot drive system is illustrated in a condition in which a rod assembly end actuator would be pivoted to the right of a longitudinal axis of the rod assembly;

Fig. 149 is a perspective view of the rod assembly of Fig. 131, illustrating the clutch assembly in a engaged position, and illustrated with portions removed for clarity; specifically, the clutch actuator, clutch sleeve, closure tube and proximal pivot actuator are illustrated, while the drum switch is not illustrated;

Figure 150 is a perspective view of a surgical instrument according to certain embodiments described in the present invention;

Fig. 151 is a schematic block diagram of a surgical instrument control system according to certain embodiments described in the present invention;

Fig. 152 is a perspective view of the interface of a surgical instrument according to certain embodiments described in the present invention;

Fig. 153 is a top view of the interface of Fig. 152;

Figure 154 is a cross-sectional view! of the interface of Figure 152 in an inactive or neutral configuration according to certain embodiments described in the present invention;

[00160] Figure 155 is a cross-sectional view! the interface of Fig. 152 activated to pivot an end actuator according to certain embodiments described in the present invention;

Fig. 156 is a cross-sectional view of the interface of Fig. 152, activated to return an end actuator to the initial state position of the pivot according to certain embodiments described in the present invention;

Fig. 157 is a cross-sectional view of an interface similar to the interface of Fig. 152 in an inactive or neutral configuration according to certain embodiments described in the present invention;

Fig. 158 is a cross-sectional view of the interface of Fig. 152, activated to pivot an end actuator according to certain embodiments described in the present invention;

Fig. 159 is a cross-sectional view of the interface of Fig. 152 activated to return the end actuator to the initial state position of the pivot according to certain embodiments described in the present invention;

Fig. 160 is a schematic block diagram depicting a response of a surgical instrument controller of Fig. 150 to a reset input signal in accordance with certain embodiments described in the present invention;

Fig. 161 is a schematic block diagram depicting the response of a surgical instrument controller of Fig. 150 to an initial state input signal according to certain embodiments described in the present invention;

Fig. 162 is a schematic block diagram depicting the response of a surgical instrument controller of Fig. 150 to an initial state input signal according to certain embodiments described in the present invention;

Fig. 163 is a schematic block diagram depicting the response of a surgical instrument controller of Fig. 150 to an initial trigger state input signal in accordance with certain embodiments described in the present invention;

Figure 164 is a side elevational view of a surgical instrument, including a handle separated from a stem, in accordance with various embodiments described in the present invention;

Figure 165 is a side elevational view of a cable portion including a lock switch and a rod portion including a lock member in accordance with various embodiments described in the present invention;

Fig. 166 is a partial cross-sectional view of the surgical instrument in Fig. 150 illustrating a locking element in the locked configuration and an open switch according to various embodiments described in the present invention;

Fig. 167 is a partial cross-sectional view of the surgical instrument in Fig. 150 illustrating a locking element in the unlocked configuration and a closed switch pressed by the locking element according to various embodiments described in the present invention;

[00173] Figure 167A is a partial cross-sectional view of the surgical instrument in Figure 150 illustrating an advanced trigger drive according to various embodiments described in the present invention;

Fig. 167B is a partial cross-sectional view of the surgical instrument in Fig. 150 illustrating a retracted or original firing trigger according to various embodiments described in the present invention;

Fig. 168 is a schematic block diagram depicting a response of a surgical instrument controller of Fig. 150 to an input signal according to certain embodiments described in the present invention;

Fig. 169 is a schematic block diagram depicting a response of a surgical instrument controller of Fig. 150 to an input signal according to certain embodiments described in the present invention;

Figure 170 is a bottom view of an electric motor and a resonator according to various embodiments of the present disclosure;

Fig. 171 is a perspective view of the resonator of Fig. 170;

Fig. 172 is a bottom view of the resonator of Fig. 170;

Fig. 173 is a partial perspective view of a surgical instrument cable depicting the electric motor of Fig. 170 and a resonator positioned within the cable in accordance with various embodiments of the present disclosure;

[00181] Figure 174 is a bottom view of the electric motor and resonator of Figure 173;

[00182] Figure 175 is a perspective view of the resonator of Figure 173;

[00183] Figure 176 is a bottom view of the resonator of Figure 173;

Figure 177 is a partial perspective view of the cable of Figure 173, depicting the electric motor of Figure 170 and a resonator positioned within the cable in accordance with various embodiments of the present disclosure;

[00185] Figure 178 is a bottom view of the electric motor and resonator of Figure 177;

Figure 179 is a first perspective view of the resonator of Figure 177;

[00187] Figure 180 is a second perspective view of the resonator of Figure 177;

[00188] Figure 181 is a perspective view of the cable of Figure 173, depicting the electric motor of Figure 170, a resonator and a retaining ring positioned within the cable, in accordance with various embodiments of the present disclosure;

Fig. 182 is a flow chart of the operation of a surgical instrument during a surgical procedure according to various embodiments of the present disclosure;

Fig. 183 is an exploded perspective view of the surgical instrument cable of Fig. 34 showing a portion of a sensor arrangement for an absolute positioning system according to one embodiment;

Figure 184 is a side elevational view of the cable of Figures 34 and 183 with a portion of the cable compartment removed, showing a portion of a sensor arrangement for an absolute positioning system, according to one embodiment;

Figure 185 is a schematic diagram of an absolute positioning system comprising a microcontroller-controlled motor drive circuit arrangement comprising a sensor arrangement according to one embodiment;

Figure 186 is a detail perspective view of a sensor arrangement for an absolute positioning system according to one embodiment;

Figure 187 is an exploded perspective view of the sensor arrangement for an absolute positioning system, showing a control circuit board assembly and the relative alignment of the sensor arrangement elements, according to one embodiment;

[00195] Figure 188 is a side perspective view of the sensor arrangement for an absolute positioning system showing a control circuit board assembly according to one embodiment;

[00196] Figure 189 is a side perspective view of the sensor arrangement for an absolute positioning system with the control circuit board assembly removed to show the sensor element support assembly, according to one embodiment;

[00197] Figure 190 is a side perspective view of the sensor arrangement for an absolute positioning system with the control circuit board and sensor support assemblies removed to show the sensor element according to one embodiment;

Figure 191 is a top view of the sensor arrangement for an absolute positioning system shown with the control circuit board removed, but with the electronics still visible, to show the relative position between the position sensor and the circuit components according to one embodiment;

Fig. 192 is a schematic diagram of a position sensor embodiment for an absolute positioning system comprising a rotary magnetic absolute positioning system according to one embodiment;

[00200] Figure 193 illustrates a pivot joint in a straight position, that is, at zero angle to the longitudinal direction, according to one embodiment;

Fig. 194 illustrates the pivot joint of Fig. 193 hinged in one direction at a first angle, defined between a longitudinal axis L-A and a pivot axis A-A, according to one embodiment;

[00202] Figure 195 illustrates the pivot joint of Figure 193, pivoted in another direction at a second angle, defined between a longitudinal axis L-A and a pivot axis A'-A, according to one embodiment;

Figure 196 illustrates one embodiment of a logic diagram for a method of compensating for the bevelling effect of flexible scalpel bands at transection length;

[00204] Figure 197 is a schematic of a system for de-energizing an electrical connector of a surgical instrument cable when a stem assembly is not coupled thereto;

Fig. 198 is a schematic illustrating a system for controlling the speed of an engine and / or the speed of an operable element of a surgical instrument described in the present invention; and Figure 199 is a schematic illustrating another system for controlling the speed of a motor and / or the speed of an operable element of a surgical instrument disclosed in the present invention.

Corresponding reference characters indicate corresponding parts in all the various views. The exemplifications described in the present invention illustrate certain embodiments of the invention in one form, and such exemplifications should not be construed as limiting the scope of the invention in any way.

DETAILED DESCRIPTION

The applicant of this application is also the author of the following patent applications filed on March 1, 2013 and which are all incorporated in their entirety into the present invention by reference: - US Patent Application no. Serial No. 13 / 782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION;

- US Patent Application Serial No. 13 / 782,323 entitled ROTARY

POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS;

US Patent Application Serial No. 13 / 782,338 entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS; - US Patent Application Serial No. 13 / 782,499 entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT;

- US Patent Application Serial No. 13 / 782,460, entitled MULTIPLE

MOTOR PROCESSOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS;

US Patent Application Serial No. 13 / 782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS; US Patent Application Serial No. 13 / 782,481 entitled STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH SENSOR; US Patent Application Serial No. 13 / 782,518 entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS;

US Patent Application Serial No. 13 / 782,375 entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM; and - US Patent Application Serial No. 13 / 782,536 entitled SURGICAL INSTRUMENT SOFT STOP are incorporated in their entirety into the present invention by reference.

The applicant of this application is also the author of the following patent applications filed on the same date as this application and which are all incorporated in their entirety into the present invention by reference: - US patent application entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, Attorney Document No. END7261USNP / 130029; - US Patent Application entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, Attorney Document No. END7259USNP / 130030; - US patent application entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, Attorney Document No. END7262USNP / 130032; - US Patent Application entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, Attorney Document No. END7257USNP / 130033; - US patent application entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, Attorney Document No. END7254USNP / 130034; - US Patent Application entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, Attorney Document No. END7258USNP / 130035; - US Patent Application entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, Attorney Document No. END7255USNP / 130036; - US Patent Application entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, Attorney Document No. END7256USNP / 130037; and - US Patent Application entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, Attorney Document No. END7263USNP / 130079.

Certain exemplary embodiments will now be described to provide a general understanding of the principles of structure, function, manufacture and use of the devices and methods described in the present invention. One or more examples of such embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the devices and methods specifically described in the present invention and illustrated in the accompanying drawings are exemplary and not limiting embodiments, and that the scope of the various embodiments of the present invention is defined only by the claims. Features illustrated or described in conjunction with an exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are designed to be included within the scope of the present invention.

Throughout this descriptive report, the terms "various modalities", "some modalities", "one modality" or "the modality", or the like, mean that a particular feature, structure, or feature described ( a) together with the modality is included in at least one modality. Therefore, the emergence of the phrases "in various modalities", "in some modalities", "in one modality" or "in the modality", or the like, in places throughout the descriptive report are not necessarily referring to the same modality. In addition, the particular features, structures or features may be combined in any suitable manner in one or more embodiments. Therefore, the particular features, structures or characteristics shown or described in conjunction with one embodiment may be combined, in whole or in part, with the features structures or the characteristics of one or more other modalities without limitation. Such modifications and variations are designed to be included within the scope of the present invention.

The terms "proximal" and "distal" are used in the present invention with reference to a physician's manipulation of the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the physician, and the term "distal" refers to the portion furthest from the physician. It will also be understood that for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" may be used in the present invention with respect to the drawings. However, surgical instruments may be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, those of ordinary skill in the art will readily understand that the various methods and devices described herein may be used in a variety of surgical procedures and applications including, for example, those in conjunction with open surgical procedures. As the present Detailed Description advances, those Those of ordinary skill in the art will further understand that the various instruments presented in the present invention may be inserted into a body in any manner, such as through a natural hole, through an incision or perforation formed in the fabric, etc. The functional portions or end actuator portions of the instruments may be inserted directly into a patient's body or may be inserted by means of an access device having a working channel through which the end actuator and elongated stem of a surgical instrument can be advanced.

Figures 1 to 3 illustrate an exemplary surgical instrument 100 which may include a cable 103, a rod 104 and a pivot end actuator 102 pivotally connected to rod 104 in pivot joint 110. A pivot control 112 is provided for rotating end actuator 102 around pivot joint 110. End actuator 102 is shown to be configured as an endocortor for pinching, separating and stapling fabrics, however, it will be understood that various embodiments may include end actuators configured to function as other surgical devices including, for example, forceps, cutters, staplers, clip applicators, access devices, pharmacological / gene therapy application devices, ultrasound, RF and / or laser energy devices, etc. Instrument cable 100 may include a closing trigger 114 and a triggering trigger 116 for activating end actuator 102. It will be appreciated that instruments having end actuators directed to different surgical tasks may have different numbers or types of triggers. , or other suitable controls, to operate an end actuator. End actuator 102 is connected to cable 103 by rod 104. A physician may pivot end actuator 102 relative to rod 104 using pivot control 112, as described in more detail below.

[00215] It should be understood that spatial terms * such as vertical, horizontal, right, left, etc. are used in the present invention with reference to the figures, assuming that the longitudinal axis of the surgical instrument 100 is coaxial with the central axis of the stem 104, the triggers 114, 116 extending downward at an acute angle from the bottom In actual practice, however, the surgical instrument 100 may be oriented at various angles, and as such these spatial terms are used in relation to the surgical instrument 100 itself. Additionally, proximal is used to denote a perspective of a physician behind cable 103 and position end actuator 102 distally or distally. As used in the present invention, the term "substantially transverse to the longitudinal axis", wherein "the longitudinal axis" is the axis of the rod, refers to a direction that is almost perpendicular to the longitudinal axis. It will be understood, however, that directions that deviate slightly from the perpendicular to the longitudinal axis are also substantially transverse to the longitudinal axis.

Various embodiments presented in the present invention are directed to instruments having a pivot joint driven by flexing cables or bands. Figures 4 and 5 show a cross-sectional top view of the elongate rod 104 and end actuator 102, including a band 205 which is mechanically coupled to a protrusion 206, extending from end actuator 102. Band 205 may include web portions 202 and 204 extending proximally from protrusion 206, along elongate rod 104 and to pivot control 112. Web 205 and web portions 202, 204 may have a fixed length. . The web 205 may be mechanically coupled to the boss 206 as shown using any suitable fastening method including, for example, gluing, welding, etc. In various embodiments, each band portion 202, 204 may be provided as a separate band, with each separate band having one end mechanically coupled to the protrusion 206 and the other end extending to the rod 104 and the pivot controller 112. The bands can be mechanically coupled to protrusion 206 as described above.

In addition, band portions 202, 204 may extend from protrusion 206 to pivot joint 110, and along rod 104 to pivot control 112, shown in Figure 6. The pivot control 112 may include a pivot slide 208, a frame 212 and a housing 218. Band portions 202, 204 may pass through pivot slide 208 through a slot 210 or other opening, although it is understood that band portions 202, 204 may be coupled to slide 208 by any suitable means. The pivot slide 208 may be one-piece, as shown in Figure 6, or may include two pieces, with the interface between the two pieces defining slot 210. In a non-limiting embodiment, the pivot slide 208 may include multiple slots, for example, with each slot configured to receive one of the band portions 202, 204. The housing 218 may cover the various components of the joint control 112 to prevent debris from entering the joint control 112.

Again with reference to Figure 6, the band portions 202, 204 may be anchored to the frame 212 at connection points 214 and 216, respectively, which are situated proximal to slot 210. It will be understood that the band portions 202, 204 may be anchored anywhere on the instrument 10, proximal to slot 210, including cable 103. The non-limiting embodiment of Figure 6 shows that band portions 202, 204 may comprise a curved configuration between the points. 214 and 216 and slot 210, located near the longitudinal axis of the shank 104. Other embodiments are designed wherein the web portions 202, 204 are straight.

Figures 7 to 9 show views of end actuator 102 and elongated rod 104 of instrument 100, including pivot joint 110 shown in Figure 5. Figure 7 shows an exploded view of end actuator 102 and rod 104, including various internal components. In at least one embodiment, an end actuator frame 150 and shank frame 154 are configured to be joined at pivot joint 110. The protrusion 206 may be integral with end actuator frame 150, with band 205 contacting the protrusion 206 as shown. The rod frame 154 may include a distal orientation tab 302 defining an opening 304. The opening 304 may be positioned in contact with a pivot pin (not shown) included in the end actuator frame 150, allowing the end frame to end actuator 150 pivots relative to rod structure 154 and, consequently, end actuator 102 pivots relative to rod 104. When arranged together, the various components may pivot around pivot joint 110 on a pivot shaft 306 shown in Figures 9 and 10.

Figure 7 also shows an anvil 120. In its non-limiting embodiment, anvil 120 is coupled to an elongate channel 198. For example, openings 199 may be defined in elongate channel 198, which may receive pins 152 extending. from the anvil 120 and allowing the anvil 120 to pivot from an open position to a closed position relative to the elongate channel 198 and the staple cartridge 118. In addition, Figure 7 shows a firing bar 172 configured to translate longitudinally along the rod frame 154 to the flexible closure and pivot frame pivot joint 110 and through a firing slot 176 in the distal frame 150 into the end actuator 102. The firing bar 172 may be constructed of a solid section or, in various embodiments, may include a laminate material comprising, for example, a stack of steel plates. It will be appreciated that a firing bar 172 made from a laminated material may decrease the force required to pivot the end actuator 102. In various embodiments, a spring clip 158 may be mounted to the end actuator frame 150 to pull the firing bar 172 down. The distal and proximal square openings 164 and 168 formed at the top of the end actuator frame 150 may define therebetween a clip bar 170 which receives an upper arm 162 from a spring-loaded tab 158 whose distally extended lower arm 160 it gives a downward force to a high portion 174 of firing bar 172, as discussed below.

[00221] One end of the distal projecting firing bar 172 may be attached to an electronic beam 178 which may, among other things, assist in spacing the anvil 120 from a staple cartridge 118 positioned on the elongate channel 198 when the anvil 120 is in the closed position. The electronic beam 178 may also include a sharp cutting edge 182 which may be used to separate tissue as the electronic beam 178 is distally advanced by firing bar 172. In operation, the electronic beam 178 may also activate or fire the staple cartridge 118. Staple cartridge 118 may include a molded cartridge body 194 that supports a plurality of staples 191 which rest on staple drivers 192 within respective upwardly open staple openings 195. wedge 190 is driven distally by the electronic beam 178, sliding over a cartridge tray 196 which holds the various components of the replaceable staple cartridge 118 together. The wedge plank 190 displaces the staple actuators 192 for ejecting the clips 191 in deformation contact with the anvil 120, while a cutting surface 182 of the electronic beam 178 separates the pinched tissue.

In addition to the above, the electronic beam 178 may include upper pins 180 that engage the anvil 120 during firing. The electronic beam 178 may further include middle pins 184 and a base 186, which may engage various portions of the cartridge body 194, cartridge tray 196 and elongate channel 198. When a staple cartridge 118 is positioned within of the elongate channel 198, a slot 193 defined in the cartridge body 194 may be aligned with a slot 197 defined in the cartridge tray 196 and with a slot 189 defined in the elongate channel 198. In use, the electronic beam 178 may run through the slots 193, 197 and 189, wherein, as shown in Figure 7, the base 186 of the electronic beam 178 may engage a groove positioned along the lower surface of the channel 198 along the length of the slot 189, the middle pins 184 may engage the upper surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 may engage the anvil 120. In such circumstances, the electronic beam 178 may and spacing or limiting relative movement between the anvil 120 and the staple cartridge 118, while the firing bar 172 is moved distally to trigger the staples of the staple cartridge 118 and / or to make an incision in the tissue captured between the anvil. 120 and the staple cartridge 118. Thereafter, the firing bar 172 and the electronic beam 178 may be proximally retracted, allowing the anvil 120 to be opened to release two separate stapled tissue portions (not shown).

Figures 7 to 9 also show a double pivot closure sleeve assembly 121 according to various embodiments. Referring specifically to Figure 7, the double pivot closure sleeve assembly 121 includes a stem closure tube section 128 having distal projection top and bottom tabs 146 and 148. An end actuator closure tube section 126 includes a horseshoe-shaped opening 124 and an ear 123 for engaging the opening ear 122 on the anvil 120. The horseshoe-shaped opening 124 and ear 123 engage the ear 122 when the anvil 120 is open. Shown is the closure tube section 126, with upper tabs 144 and lower tabs (not visible) in proximal projection. A dual hinged upper connection 130 includes upwardly projecting distal and proximal pivot pins 134, 136 which engage, respectively, a distal upper pin hole 138 in the proximal upper projection tab 144 and a proximal upper pin hole 140 on the distal projection upper tab 146. A lower double-pivot connection 132 includes downwardly projecting distal and proximal pivot pins (not shown in Figure 7, but seen in Figure 8), which engage a hole respectively distal lower pin in the proximal projecting lower tab and a proximal lower pin hole 142 in the distal projecting lower tab 148.

In use, the closing sleeve assembly 121 is distally translated to close the anvil 120, for example, in response to actuation of the closing trigger 114. The anvil 120 is closed by distally translating the section of the closing tube 126 and thus the glove assembly 121, causing it to find a proximal surface on the anvil 120, located in Figure 9A, to the left of the ear 122. As shown most clearly in Figures 8 and 9, the anvil 120 is opened translocating. proximal the tube section 126 and the glove assembly 121, causing the ear 123 and the horseshoe opening 124 to meet and press the ear 122 to lift the anvil 120. In the open anvil position, the assembly Double-joint closure sleeve 121 is moved to its proximal position.

In operation, the clinician may pivot the end actuator 102 of the instrument 100 relative to the rod 104 around the pivot 110 by pushing the control 112 sideways. From the neutral position, the clinician may pivot end actuator 102 to the left relative to rod 104 by applying a lateral force to the left side of control 112. In response to force, pivot slide 208 may be pushed at least partially to As the slide 208 is pushed into the frame 212, the slot 210 and the web portion 204 may be moved along the elongate rod 104 in a transverse direction, e.g. a substantially transverse direction, or perpendicular to the longitudinal axis of the rod 104. Consequently, a force is applied to the web portion 204, causing it to resiliently bend and / or shift from its initial position before being bent towards the opposite side of the rod 104. Concurrently , the band portion 202 is released from its initial position before being folded. Such movement of the band portion 204, associated with straightening of the band portion 202, can apply counterclockwise rotational force to the boss 206, which in turn causes the boss 206 and the end actuator 102 revolve to the left around pivot pivot 110 at a desired angle to the shank shaft 104 as shown in Figure 12. Release of the web portion 202 decreases the tension on the web portion, allowing the band portion 204 pivot end actuator 102 without substantial interference from band portion 202. It will be appreciated that the physician may also pivot end actuator 102 to the right relative to rod 104 by applying a lateral force to the right side of control 112. This bends the cable portion 202, causing a clockwise rotational force on the boss 206, which in turn causes the boss 206 and the end actuator to retract. evolve to the right around the pivot pivot 110. Similarly to the above, the strip portion 204 may be concomitantly released to permit such movement.

Figures 12 and 13 depict a motor driven cutting and clamping surgical instrument 310. The illustrated embodiment represents an endoscopic instrument and, in general, the instrument 310 is described in the present invention as an endoscopic cutting and clamping surgical instrument. ; However, it should be noted that the invention is not limited by it and that, according to other embodiments, any instrument presented in the present invention may comprise a non-endoscopic surgical instrument for cutting and clamping. The surgical instrument 310 shown in Figures 12 and 13 comprises a cable 306, a stem 308 and an end actuator 312, connected to the stem 308. In various embodiments, the end actuator 312 may be pivoted relative to the stem 308 about the pivot joint 314. Various means for pivoting end actuator 312 and / or means for allowing end actuator 312 to pivot relative to rod 308 are disclosed in US Patent No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which was issued July 13, 2010, and US Patent No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which was issued March 2, 2010, the disclosures of which are incorporated in its entirety by the present invention. of the reference. Various other means for articulating the end actuator 312 are discussed in more detail below. Similar to the foregoing, end actuator 312 is configured to act as an endocortor for clamping, separating and / or stapling tissues, although in other embodiments different types of end actuators may be used as end actuators for other types of surgical devices such as forceps, cutters, staplers, clip clamps, access devices, pharmacological / gene therapy application devices, ultrasound, RF and / or laser energy devices, etc. Several RF devices can be found in US Patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, issued April 4, 1995, and in US Patent Application No. 12 / 031,573, entitled SURGICAL CUTTING AND FASTENING. INSTRUMENT HAVING RF ELECTRODES, filed February 14, 2008, the disclosures of which are incorporated in their entirety by reference herein.

It will be understood that the terms "proximal" and "distal" are used in the present invention with reference to a physician holding the cable 306 of the instrument 310. Thus, the end actuator 312 is distal to the cable, which is longer. 306. It should further be recognized that for the sake of convenience and clarity, spatial terms such as "vertical" and "horizontal" are used in the present invention with respect to the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and absolute.

End actuator 312 may include, among other things, a staple channel 322 and a pivotable translucent clamping element, such as an anvil 324, for example. Cable 306 of instrument 310 may include a closing trigger 318 and a triggering trigger 320 to drive end actuator 312. It will be appreciated that instruments having end actuators directed to different surgical tasks may have different numbers or types of triggers. or other suitable controls for the operation of end actuator 312. Cable 306 may include a downwardly extending grip 326 against which a closing trigger 318 is pivotally depressed by the physician to cause clamping or bending. closing the anvil 324 against the staple channel 322 of the end actuator 312 and thereby clamping the fabric positioned between the anvil 324 and the channel 322. In other embodiments, different types of pinching elements, in addition to the anvil 324, or in instead, they could be used. The cable 306 may further include a lock that may be configured to releasably retain the closing trigger 318 in its closed position. Further details on the exemplary closure system for closing (or clamping) the anvil 324 of the end actuator 312 by retracting the closing trigger 318 are provided in US Patent No. 7,000,818 entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which was granted on February 21, 2006 in US Patent No. 7,422,139 entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which was granted on September 9, 2008 and in U.S. Patent No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, issued December 16, 2008, the disclosures of which are incorporated in their entirety by reference herein.

When satisfied with the positioning of end actuator 312, the clinician may press the closing trigger 318 to the fully closed and locked position next to handle 326. The triggering trigger 320 may then be actuated, or fired. In at least one of these embodiments, the triggering trigger 320 may be farther than the closing trigger 318, wherein closing the closing trigger 318 may move, or rotate, the triggering trigger 320 in the direction of the handle 326 from so that trigger trigger 320 can be reached by the operator with the use of one hand in various circumstances. Then the operator may pivot trigger 320 pivotally toward handle 312 to cause the stapling and separation of the pinched tissue on end actuator 312. Thereafter, trigger 320 may be returned to its unengaged position. , or not tripped (shown in Figures 1 and 2), after the clinician relieves or releases the force applied to trigger trigger 320. A release button on cable 306, when depressed, can release locked lock trigger 318. The release button can be implemented in a variety of ways, such as those described in US Patent Application Publication No. 2007/0175955 entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE LOCKING MECHANISM, which was filed January 31, 2006 and the disclosure of which is incorporated in its entirety by reference herein.

In addition, the end actuator 312 may include a cutting instrument, such as a scalpel, for cutting the pinched tissue on the end actuator 312 when triggering 320 is retracted by a user. In addition, end actuator 312 may also comprise means for securing tissue cut by the cutting instrument, such as clamps, RF electrodes and / or adhesives, for example. A longitudinally movable drive rod located within the rod 308 of the instrument 310 may drive / activate the cutting instrument and the securing means on the end actuator 312. An electric motor located on the cable 306 of the instrument 310 may be used to drive the drive rod as described later in the present invention. In various embodiments, the motor may be a brushed DC drive motor with a maximum speed of approximately 25,000 rpm, for example. In other embodiments, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. A battery (or "power supply" or "battery pack") such as the Li-ion battery, for example, may be incorporated into the grip portion 26 of the cable 6, adjacent to the motor, where the battery can provide electrical power to the motor through a motor control circuit. According to various embodiments, several series-connected batteries may be used as the power source to power the engine. In addition, the power supply may be replaceable and / or rechargeable.

As described above, the electric motor in the cable 306 of the instrument 310 may be operably engaged with the longitudinally movable drive member positioned within the rod 308. Now with reference to Figures 14 to 16, an electric motor 342 may be mounted on the handle portion 326 of the cable 306 and positioned within it. The electric motor 342 may include a swivel rod operably coupled to a gear reducer assembly 370, wherein the gear reducer assembly 370 may include, among other things, a housing 374 and an output pinion gear 372. In certain In both embodiments, the output pinion gear 372 may be operably indented directly with a longitudinally movable drive element 382 or alternatively operably engaged with the drive element 382 via one or more intermediate gears 386. The gear intermediate 386, in at least one of these embodiments, may be indented with a set or rack of drive teeth 384 defined in drive element 382. In use, electric motor 342 may drive the drive element distally as indicated by the arrow D (Figure 15), and / or proximally, indicated by an arrow D (Figure 16), depending on the direction in which and the electric motor 342 rotate the idler gear 386. In use, a voltage polarity provided by the battery is capable of operating the electric motor 342 clockwise, wherein the voltage polarity applied to the electric motor by the battery may be reversed. operating electric motor 342 counterclockwise. Cable 306 may include a switch that may be configured to reverse the polarity applied to electric motor 342 by the battery. Cable 306 may also include a sensor 330 configured to detect the position of the driving element 382 and / or the direction in which the driving element 382 is being moved.

As indicated above, the surgical instrument 310 may include a pivot joint 314 around which the end actuator 312 may be pivoted. The instrument 310 may further include a pivot lock which may be configured and operated to selectively lock the end actuator 312 in position.

In at least one such embodiment, the pivot lock may extend from the proximal end of rod 308 to the distal end of rod 308, wherein a distal end of the pivot lock may engage end actuator 312 to lock the end actuator. 312 in position. Referring again to Figures 12 and 13, instrument 310 may further include a pivot control 316 which may be engaged with a proximal end of the pivot lock and may be configured to operate the pivot lock between a locked state. and an unlocked state. In use, pivot control 316 can be pulled proximally to unlock end actuator 312 and allow end actuator 312 to rotate around pivot joint 314. After end actuator 312 has been properly pivoted, the control Knob 316 can be moved distally to lock the end actuator 312 in position again. In at least one such embodiment, the cable 306 may further include a spring and / or other suitable traction member configured to pull the pivot control 316 distally and to pull the pivot lock in a configuration locked with the end actuator 312. If the physician wishes, he may again pull the pivot control 316 back, or proximally, to unlock the end actuator 312, pivot the end actuator 312, and then move the pivot control 316 back. to its locked state. In this locked state, end actuator 312 may not pivot relative to stem 308.

As described above, surgical instrument 310 may include a pivot lock configured to hold end actuator 312 in position relative to stem 308. Also as described above, end actuator 312 may be rotated, or pivoted in position. 308 when the pivot lock is in its unlocked state. In such an unlocked state, end actuator 312 may be positioned and forced against soft tissue and / or bone, for example, which surrounds the surgical site in the patient to cause end actuator 312 to pivot relative to the patient. rod 308. In certain embodiments, the pivot control 316 may comprise a pivot switch, or may be configured to operate a pivot switch, which may selectively allow or prevent triggering 320 from operating the electric motor. 342. For example, this pivot switch may be placed in series with the electric motor 342 and a trigger switch operably associated with trigger trigger 320, wherein the pivot switch may be in a closed state when the pivot control 316 is in a locked state. When the pivot control 316 is moved to the unlocked state, the pivot control 316 can open the pivot switch, electrically decoupling the trigger trigger operation 320 and the electric motor operation 342. In such circumstances, the trigger trigger of the instrument 310 cannot be triggered while end actuator 312 is in an unlocked state, and it is pivotable relative to stem 308. When pivot control 316 is returned to its locked state, pivot control 316 can close the switch again. which can electrically couple the operation of trigger 320 to the electric motor 342. Various details of one or more surgical stapling instruments are described in US Patent Application No. 12 / 647,100 entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, which was filed on December 24, 2 009 and which was published June 30, 2011, as US Patent Application Publication No. 2011/0155785, the disclosure of which is incorporated in its entirety by reference herein.

Turning now to Figures 17 to 29, a surgical instrument 400 may comprise a cable 403, a stem 404 extending from the cable 403 and an end actuator 402 extending from the stem 404. Like the reader note, portions of cable 403 have been removed for illustration purposes; however, cable 403 may include a closing trigger and a trigger trigger similar to the closing trigger 114 and trigger trigger 116 shown in Figure 1, for example. As will be described in more detail below, the triggering trigger 116 may be operably coupled to a triggering trigger including a triggering element 470 extending along the rod 404, wherein the operation of the triggering trigger 116 distal trigger 470 may be advanced distally toward end actuator 402. As will also be described in more detail below, the surgical instrument 400 may further include a pivot actuator which may be selectively coupled to trigger actuator 470. so that when trigger 470 is moved by trigger trigger 116 and / or a separate pivot trigger and / or knob, for example, the pivot trigger may be actuated by trigger 470, and the trigger The pivot can in turn pivot the end actuator 402 around a pivot joint 410.

Turning now to Figure 17, the reader will notice that the end actuator 402 of the surgical instrument 400 is illustrated in an open configuration. More particularly, a first end actuator jaw 402, comprising an anvil 420, is shown in an open position with respect to channel 498 of a second end actuator jaw 402. Similar to the above, channel 498 may be configured to receive and hold a staple cartridge inside. Turning now to Figure 20, which also illustrates end actuator 420 in an open configuration, cable 403 of surgical instrument 400 may include a pivot lock actuator 409, which may be moved between a distal or locked position where end actuator 402 is locked in position relative to rod 404, and a proximal or unlocked position where end actuator 402 may be pivoted relative to rod 404 around pivot joint 410. Although end 402 and shank 404 are shown in Figure 20 as aligned in a straight configuration, pivot lock actuator 409 is shown in its retracted, unlocked position, and as a result, end actuator 402 may be pivoted with respect to With respect to Figures 19, 24A and 24B, pivot lock actuator 409 (Figure 21) can be operably coupled with a pivot lock 443 in whereas pivot lock actuator 409 can move pivot lock 443 between a distal position (Figure 24A), where pivot lock 443 is engaged with a proximal locking member 407 of end actuator 402, and a proximal position (Figure 24B), where pivot lock 443 is disengaged from end actuator 402. As the reader will understand, the distal, locked position of pivot lock actuator 409 corresponds to the distal position of pivot lock 443, and the proximal, unlocked position of pivot lock actuator 409 corresponds to proximal position of pivot lock 443. Turning now to Figure 19, pivot lock 443 is coupled to pivot lock actuator 409 by a pivot lock bar 440 comprising a distal end 442 engaged with pivot lock 443 as best seen in Figure 24A and a proximal end 441 engaged with As shown in Figures 24A and 24B, the pivot lock 443 may comprise one or more teeth 445, which may be configured to be indented with one or more teeth. 446 defined along the perimeter of the proximal locking element 407, for example. Referring primarily to Figure 19, rod 404 may further comprise a traction element such as a spring 444, for example, which may be configured to pull teeth 445 from pivot lock 443 to engage with teeth 446 of the locking element Similarly, cable 403 may further comprise a traction member positioned within cavity 488 (Figure 23) defined between pivot lock actuator 409 and frame 480 such that the traction element can push the pivot lock actuator 409 toward its locked, distal position.

As shown in Figure 17, the pivot lock actuator 409 can be comprised of two nozzle halves, or portions, 411a and 411b, wherein, as the reader will observe, the nozzle portion 411b has been removed from Figures 18 27 for illustration purposes. Also as illustrated in Figure 17, the pivot lock actuator 409 may comprise a plurality of hooks 413 which the surgeon or other physician may pull with his finger to retract the pivot lock actuator 409 in its proximal, unlocked configuration. The pivot lock actuator 409, again with reference to Figure 20, may further include a detent assembly 452 which may be configured to pull a detent element 457 against the rod frame 404 or cable frame 403. More particularly, rod 404 may comprise a rod frame 454 extending from a cable frame 480, wherein the detent assembly 452 may be configured to pull the detent member 457 against the rod structure 454. With reference to Figure 19, the rod structure 454 may include a detent channel 453 defined therein which may be aligned with the detent element 457 such that as the pivot lock actuator 409 is slid between its locked positions and described above, the detent member 457 may run within the detent channel 453. The detent assembly 452, again with reference to Figure 20, may include a portion stationary frame 458, which may define a threaded opening, configured to receive an adjustable threaded element 459. Adjustable threaded element 459 may include an internal opening wherein at least a portion of the detent element 457 may be positioned within the internal opening and wherein the detent member 457 may be pulled towards the end of the inner aperture by a spring, for example, positioned midway between the detent member 457 and a closed end of the internal aperture, for example. As illustrated in Figure 19, the proximal end of the detent channel 453 may comprise a detent seat 455, which may be configured to removably receive detent member 457 when the pivot lock actuator 409 has reached its proximal, unlocked position. . In various circumstances, the detent member 457, the detent seat 455 and the pull spring positioned on the adjustable threaded element 459 may be sized and configured such that the detent assembly 452 can releasably retain the pivot lock actuator 409. in its proximal position, unlocked. As described in more detail below, pivot lock actuator 409 can be held in its proximal position, unlocked until end actuator 402 has been properly pivoted. At this point, the pivot lock actuator 409 can be pushed to disconnect the detent member 457 from the detent seat 455. As the reader will understand, with reference primarily to Figure 20, the adjustable threaded member 459 can be rotated down toward the stem structure 454 so as to increase the force required to disengage detent member 457 from detent seat 455, while adjustable threaded member 459 may be swiveled upwardly against the stem structure 454 to decrease detent. force required to disengage detent member 457 from detent seat 455. Also as shown in Figure 20, pivot lock actuator 409 may comprise an access port 418 which may be used to access and rotate threaded element 459.

As discussed above, the pivot lock actuator 409 is in the retracted position, unlocked in Figure 20, and the end actuator 402 is in an unlocked configuration, as illustrated in Figure 24B. Referring now to Figures 19 and 20, the surgical instrument 400 further comprises a pivot actuator 460, which may be pushed distally to rotate the end actuator 402 about the pivot joint 410 in a first direction, and pulled proximally, to rotate the end actuator 402 around the pivot joint in a second direction, or opposite direction, as shown in Figure 21. Comparing Figures 20 and 21, the reader will notice that the pivot driver 460 has been pushed more proximally by trigger element 470. More specifically, an intermediate portion 475 of trigger element 470 may comprise a notch, or slot 476 defined therein, which may be configured to receive a proximal end 461 of pivot driver 460, so that when trigger 470 is pulled proximally, trigger 470 can also pull the pivot actuator 460 proximally. Similarly, when the triggering element 470 is pushed distally, the triggering element 470 may push the pivot actuator 460 distally. Still as illustrated in Figures 20 and 21, pivot driver 460 may comprise a distal end 462 engaged with a protrusion 414 extending from proximal locking member 407, for example, which may be configured to transmit proximal movements. and distal pivot from pivot driver 460 to end actuator 102. Referring primarily to Figures 18 to 20, cable 404 may further comprise a proximal portion of trigger element 482 of trigger element 470, including a distal end 481 engaged with a proximal end 477 of intermediate portion 475 of firing member 470. Similarly to the above, cable 403 may include an electric motor comprising an output rod and a gear operably engaged with the output rod wherein the gear may be operably engaged with a longitudinal toothed assembly 484 defined on the surface of the portion of trigger element 482. In use, in addition to the above, the electric motor may be operated in a first direction to advance trigger element 470 distally and in a second or opposite direction to retract the trigger element. firing 470 proximally. Although not illustrated, cable 403 may further comprise a switch, which may be positioned in a first condition for operating the electric motor in its first direction, in a second condition for operating the electric motor in its second direction and / or in a second condition. neutral condition in which the electric motor is not operated in any direction. In at least one such embodiment, the switch may include at least one traction element such as a spring, for example, which may be configured to pull the switch in its neutral condition, for example. Additionally, in at least one such embodiment, the first condition of the toggle switch may comprise a first position of a switch retainer on a first side of a neutral position, and the second condition of the toggle switch may comprise a second position of the retainer. switch on a second or opposite side of the neutral position, for example.

In various circumstances, in addition to the above, the pivot switch may be used to make minor adjustments to the position of the end actuator 402. For example, the surgeon may move the pivot switch in a first direction to turn the pivot switch. end actuator 402 around the pivot joint in a first direction and then reverse motion of the end actuator 402 by moving the pivot switch in the second direction, and / or any other suitable combinations of movements in the first and second until end actuator 402 is positioned in a desired position. Referring principally to Figures 19, 24A and 24B, pivot joint 410 may include a pivot pin 405 extending from shank frame member 451 and furthermore an opening 408 defined in proximal locking member 407 which is configured to fairly receive the pivot pin 405 therein so that the rotation of the end actuator 402 is restricted to rotation about the pivot axis 406, for example. Referring primarily to Figure 19, the distal end of the shank frame 454 may include a recess 456 configured to receive the shank frame member 451 therein. As will be described in more detail below, stem 404 may include an outer sleeve that may be slidable relative to stem structure 454 to close anvil 420. Referring primarily to Figures 19 to 21, the outer stem sleeve 410 may comprise a proximal portion 428 and a distal portion 426, which may be connected to each other by pivot connections 430 and 432. When the outer sleeve is slid relative to pivot joint 410, pivot connections 430 may accommodate movement relative angle between the distal portion 426 and the proximal portion 428 of the outer sleeve when the end actuator 402 has been pivoted, as shown in Figure 21. In various circumstances, pivot connections 430 and 432 may provide two or more degrees of pivot joint 410 to accommodate the end actuator pivot 402. The reader will also notice that the pivot joint Action 410 may further include a guide 401 which may be configured to receive a distal cutting portion 472 of the firing element 470 therein and guide the distal cutting portion 472 as it is distally advanced and / or collapsed proximally. inside and / or with respect to pivot joint 410.

As described above, the triggering element 470 may be distally advanced to advance the pivot actuator 460 distally and, as a result, rotate the end actuator 402 in a first direction, and similarly the element 470 may be retracted proximally to retract pivot actuator 460 proximally and, as a result, rotate end actuator 402 in the opposite direction. In some circumstances, however, it may not be desired to move, or at least substantially not to move, the distal cutting portion 472 of trigger element 470 when trigger element 470 is being used to pivot end actuator 402. 19 to 21, the intermediate portion 475 of the firing element 470 may comprise a longitudinal slit 474 defined at its distal end which may be configured to receive the proximal end! 473 of the distal cutting portion 472. The longitudinal slit 474 and the proximal end 473 may be sized and configured to allow relative movement therebetween and may comprise a sliding joint 471. Sliding joint 471 may allow intermediate portion 475 of the trigger drive 470 is moved to pivot end actuator 402 without moving, or at least not substantially moving, distal cutting portion 472. When end actuator 402 has been properly oriented, intermediate portion 475 may be advanced distally to that a proximal sidewall of longitudinal slot 474 contacts proximal end 473 so as to advance distal cutting portion 472 and trigger the staple cartridge positioned within channel 498 as described in more detail below. Referring primarily to Figure 19, stem structure 454 may comprise a longitudinal slit 469 defined therein which may be configured to slidably receive pivot drive 460 and similarly proximal portion 428 of the sleeve. The outer stem member may comprise a longitudinal aperture 425 configured to accommodate relative movement between the pivot driver 460 and the outer stem sleeve 404 described above.

In addition to the above, pivot lock actuator 409 can be configured to pull proximal portion 461 of pivot actuator 460 towards drive element 470 when pivot lock actuator 409 is in its position. proximal, unlocked. More particularly, in at least one such embodiment, the inner surface of the pivot lock actuator 409 may comprise a cam that may engage a side side 466 of the proximal portion 461 and pull the proximal portion 461 to engage it with the slot 476 defined in the intermediate portion 475 of the drive member 470. When the pivot lock actuator 409 is moved back to its locked, distal position, the pivot lock actuator 409 can no longer pull the proximal portion 461 inwardly. In at least one of these embodiments, cable 403 and / or rod 404 may comprise a resilient element such as a spring, which may be configured to pull proximal portion 461 externally in the opposite direction. firing member 470 so that proximal portion 461 is not operably engaged with slot 476 unless the tensile force of the member the resilient is overcome by pivot lock actuator 409 when pivot lock actuator 409 is moved proximally to its unlocked position as described above. In various circumstances, the proximal portion 461 and slot 476 may comprise a force limiting clutch.

With the end actuator 402 hinged in the desired orientation, in addition to the above, the closing trigger 114 can be activated to move the anvil 420 toward its closed position, as illustrated in Figure 22. More particularly, the closing trigger 114 may advance stem outer sleeve 410 distally so that the distal portion 426 of the outer sleeve may push the anvil 420 distally and downwardly, for example. Anvil 420 may comprise projections 497 extending from opposite sides of anvil 420 which may be configured to run and rotate in elongate slots 499 defined in cartridge channel 498. Anvil 420 may additionally comprise a protrusion 496 extending upwardly from itself which may be positioned within an opening 495 defined in the distal portion 426 of the outer sleeve, wherein a side wall of the opening 495 may contact the protrusion 496 as the distal portion 426 is advanced. distally to move the anvil 420 toward the cartridge channel 498. The actuation of the closing drive, in addition to the above, may also move the pivot lock actuator 409 from its proximal, unlocked position (Figures 20 to 22). ) its distal position, locked (Figure 23). More specifically, the closing drive may be configured to advance a closing drive carriage 415 distally which may contact a collar 450 mounted within the pivot actuator 409 as illustrated in Figure 22. As illustrated in the Figures 19 and 22, collar 450 may comprise opposing portions or halves which may be arranged together such that opposite portions of collar 450 surround rod 404. Collar 450 may also support detent assembly 452, which is discussed. above, and may include a mounting portion engaged with the proximal end 441 of the pivot lock bar 440, which is also discussed above. In any event, closing drive carriage 415 may contact collar 450 and slide pivot lock actuator 409 distally and, in addition to the above, displace detent member 457 from the seat of the detent 455, with reference to Figure 19, in the detent 453 groove so that the pivot lock actuator 409 can be pushed to its locked position, and the pivot lock 443 can be moved in engagement with the proximal portion of the latch. 407, to lock end actuator 402 in position, as shown in Figure 23. At this point, closing drive carriage 415 may prevent end actuator 402 from being unlocked and pivoted until closing drive and anvil 420 be opened again, and the closing drive carriage 415 is moved proximally as described in more detail below.

Now with reference to Figure 25, the actuation of the closing drive by the closing drive actuator 114 and the distal advance of the stem 410 outer sleeve 428 can also operably disengage pivot drive 460 from trigger drive 470. Referring again to Figures 20 and 21, the reader will find that the outer sleeve 428 includes a window 424 defined therein, wherein a rotatable cam element 465 may be positioned. The meat member 465 may comprise a first end rotatably attached or coupled to the shank structure 454 and a second end configured to rotate relative to the fixed end of the meat element 465, whereas in other embodiments, the cam member Meat 465 may comprise any suitable shape. When the outer sleeve 428 is in its proximal position, and the anvil 420 is in its open configuration, the cam member 465 may be in a first position that allows the proximal end 461 of the pivot drive 460 to be engaged with the defined slot 476. on the firing element 470; however, when the outer sleeve 428 is advanced distally, a side wall of the window 424 may engage the meat member 465 and raise the second end of the meat element 465 opposite the shank structure 454 to a second position. In this second position, the cam member 465 may move proximal end 461 of pivot drive 460 in the opposite direction of trigger drive 470, so that proximal end 461 is no longer positioned within slot 476 defined in trigger drive Thus, when the closing drive has been activated to close the anvil 420, the closing drive can push the pivot lock actuator 409 into its distal, locked configuration, the pivot lock actuator 409 can push the pivot lock. 445 in a configuration locked with end actuator 402 and, furthermore, the closing drive can operably disconnect pivot driver 460 from trigger drive 470. At this point, in operating the surgical instrument 400, the actuation of the trigger 470 will not pivot end actuator 402, and trigger 470 can move independently from the pivot drive 460.

Turning now to Figure 26, as mentioned above, firing drive 470 may be distally advanced to eject clips from a staple cartridge positioned within the end actuator channel 498 and to deform the clips against the anvil. 420. As described above, the trigger drive 470 may further comprise a cutting element that may be configured to section the captured tissue within the limits of the end actuator 402. As also mentioned above, the electric motor inside cable 403 may be operated by trigger actuator 116 so as to advance trigger element 470 distally, whereby under various circumstances the electric motor may be operated until distal cutting portion 472 of trigger element 470 reaches the distal end of the cartridge. staples and / or any other suitable position inside the staple cartridge. In any event, the rotation of the electric motor may be reversed to retract trigger 470 proximally, as illustrated in Figure 27. In various circumstances, the electric motor may retract proximal drive portion 482 and intermediate portion 475 up to that the distal sidewall of the longitudinal slit 474 defined in the intermediate portion 475 contacts the proximal end 473 of the distal cutting member 472. At this point, further retraction of the proximal drive portion 482 and the intermediate portion 475 will retract the distal cutting member 475. distal section 472 proximally. In various circumstances, the electric motor may be operated until slot 476 defined in intermediate portion 475 of trigger element 470 is realigned with proximal portion 461 of pivot drive 460; however, as the closing sleeve 428 is still in the distally advanced position, the cam member 465 may still be pulling the pivot actuator 460 in the opposite direction to engagement with trigger element 470. In order to allow the pivot actuator 460 is again engaged with trigger element 470, under these circumstances the closing drive would need to be reopened to bring the window 424 defined in the outer sleeve portion 428 into alignment with the meat element 465 so that the meat element 465 can be pivoted inwardly toward the shank structure 454 to its first position. In various circumstances, the pivot actuator 460 may be resiliently flexed in the opposite direction to engagement with the triggering element 470, so that when the cam member 465 can return to its first position, the pivot actuator 460 can flex flexibly. resiliently inward toward the shank structure 454 to engage the proximal portion 461 of the pivot drive 460 again, with slot 476 defined in the middle portion 475 of the drive member 470. In various embodiments, the surgical instrument 400 may further comprise a traction member which may be configured to pull proximal portion 461 back into engagement with intermediate portion 475.

The reader will notice that the intermediate portion 475 of the firing element 470 has been retracted proximally in Figure 27, so that the slot 476 defined in the intermediate portion 475 is positioned proximally with respect to the proximal portion 461 of the pivot driver 460. In such circumstances, as a result, the proximal portion 461 cannot be operably reconnected to the firing member 470 until the intermediate portion 475 is distally advanced to align the slot 476 with the proximal portion 461. These circumstances may arise as a result of a between the intermediate portion 475 and the cutting element portion 472 of the triggering element 470 created by the sliding joint 471, which may be resolved by momentarily reactivating the electric motor in the first direction, for example.

Again with reference to Figure 27, firing element 470 may be in the retracted or reset position, however, the closing drive is still in an activated or closed configuration which may prevent anvil 420 from reopening and end actuator 402 is rearticulated. When the closing drive is released, now with reference to Figure 28, the closing drive carriage 415 may be retracted to a proximal position where the portions including the closing sleeve 426 and 428 are also closely retracted. Again with reference to Figure 19, the proximal portion of the sleeve 428 may include a proximal end 417, which may be engaged with the closing drive carriage 415 so that the proximal portion of the sleeve 428 and the closing drive carriage 415 move. together in the distal and / or proximal direction. In any event, in addition to the above, the proximal movement of the distal portion of the sleeve 426 may cause the distal sidewall of the opening 495 to engage the projection 496 extending from the anvil 420 to pivot the anvil. 420 in its open position, as shown in Figure 29. In addition, the proximal movement of the closing drive carriage 415 may unlock the pivot lock actuator 409 so that the pivot lock actuator 409 can be moved to its position. unlocked, which can as a result pull the pivot lock 443 proximally until it compresses spring 444 and unlocks end actuator 402. As described above, end actuator 402 can then be pivoted around the pivot joint 410, and the operation of surgical instrument 400 described above may be repeated. Referring primarily to Figures 18 to 20, cable 404 may further comprise a switch 408 mounted to cable frame 480 which may be configured to detect whether pivot lock actuator 409 is in its proximal, unlocked position. In some embodiments, switch 408 may be operably coupled to an indicator on cable 404, such as a light, which may indicate to the surgical instrument operator 400 that the end actuator 402 is in an unlocked condition and that the operator you can use the pivot switch to pivot end actuator 402, for example.

As described above with respect to the embodiment of Figure 17, surgical instrument 400 may comprise a pivot lock system configured to lock and unlock end actuator 402, and a closing drive configured to open and close the anvil 420 of the end actuator 402. Although these two systems of the surgical instrument 400 interact in several respects, which are described above, the systems may be operated independently of one another and other aspects. For example, pivot lock actuator 409 and end actuator lock 443 can be actuated without closing anvil 420. In this embodiment of surgical instrument 400, the closing drive is independently operated to close anvil 420. Now returning to Figures 30 to 32, the surgical instrument 400 may include an alternative arrangement wherein the closing drive is actuated to close the anvil 420 and two to lock the end actuator 402 in position. Referring primarily to Figures 31 and 32, rod 404 may comprise a pivot lock bar 540, which may be moved between an unlocked proximal position (Figure 31) wherein the end actuator 402 may be pivoted around the pivot joint 410, and a locking distal position (Figure 32) wherein the end actuator 402 may be locked in position. As with pivot lock bar 440, pivot lock bar 540 may include a distal end 542 which is operably engaged with pivot lock 443, so that when pivot lock bar 540 is pulled in proximally, the pivot lock 443 can be pulled proximally. Similarly, when the pivot lock bar 540 is pushed distally, the pivot lock 443 can also be pushed distal. In contrast to pivot lock bar 440, which is pushed distally and pulled proximally by pivot lock actuator 409, as described above, pivot lock bar 540 can be pushed distally and pulled proximally by closure sleeve 428 More particularly, the proximal end 541 of the pivot lock bar 540 may comprise a hook 547 which, when the closure sleeve 428 is pulled proximally, may be attached to a portion of the closure sleeve 428 and pulled in proximal direction with the closing sleeve 428. In these circumstances, the sleeve 428 may pull the pivot lock bar 540 to the unlocked condition. As the reader will note, the closing sleeve 428 may include a window 549 in which the proximal end 541 of the pivot lock bar 540 may be positioned. When the closure sleeve 428 is pushed distally, in addition to the above, a proximal side wall 548 of window 549 may contact proximal end 541 and push pivot lock bar 540 and pivot lock 443 distally to lock end actuator 402 in position.

As described in the present invention, it may be desirable to employ surgical systems and devices that include reusable portions configured for use with interchangeable surgical components. Referring to Figure 33, for example, a surgical system, generally designated 1000, is shown, which in at least one form comprises a surgical instrument 1010 which may or may not be reused. Surgical instrument 1010 may be employed with a plurality of interchangeable rod assemblies 1200, 1200 ', 1200 ”. 1200, 1200 '', 1200 'interchangeable rod assemblies may have a surgically coupled 1300, 1300', 1300 ”end actuator that is configured to perform one or more surgical tasks or procedures. For example, each of the surgical end actuators 1300, 1300 ', 1300 ”may comprise a surgical cutting and clamping device that is configured to operably support a surgical staple cartridge therein. Each of the stem assemblies may employ end actuators that are adapted to support different staple cartridge sizes and types, having different lengths, sizes, types of stems, etc. Although the present figures illustrate end actuators configured to cut tissue staples, various aspects of the surgical system 1000 can also be effectively employed with surgical instruments configured to apply other movements and forms of energy, such as radiofrequency (RF) energy. , ultrasonic energy, and / or movement, in the arrangements of interchangeable rod-mounted end actuators that are used in various surgical applications and procedures. In addition, the end actuator, stem assemblies, cables, surgical instruments and / or surgical instrument systems may use any suitable stapling device to staple the tissues. For example, a staple cartridge comprising a plurality of staples removably stored within may be removably inserted and / or fixed to the end actuator of a rod assembly. In various circumstances, a stem assembly may be selected to be attached to a cord of a surgical instrument, and a staple cartridge may be selected to be attached to the stem assembly.

The surgical instrument 1010 shown in Figure 33 comprises a housing 1040 consisting of a cable 1042 configured to be safe, manipulated and activated by the physician. As the present Detailed Description advances, however, it will be understood that the various unique and innovative arrangements of the various shapes of the interchangeable stem assemblies disclosed in the present invention may also be effectively employed in conjunction with robot controlled surgical systems. Accordingly, the term "housing" may also encompass a housing or similar portion of a robotic system that houses or otherwise supports at least one drive system configured to generate and apply at least one control movement that may be used to trigger. the interchangeable rod assemblies described in the present invention and their equivalents. The term "structure" may refer to a hand surgical instrument portion. The term "structure" may also represent a portion of a robot controlled surgical instrument and / or a portion of the robotic system that may be used to operably control the surgical instrument. For example, the interchangeable stem assemblies described in the present invention may be employed with various robotic systems, instruments, components and methods disclosed in US Patent Application Publication No. US 2012/0298719. US Patent Application Serial No. 13 / 118,241 entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now US Patent Application Publication No. 2012/0298719, is incorporated in its entirety into the present invention by reference.

[00249] Figure 34 illustrates the surgical instrument 1010 with an interchangeable rod assembly 1200 operably coupled thereto. In the illustrated form, the surgical instrument includes a cable 1042. In at least one form, cable 1042 may comprise a pair of interconnectable housing segments 1044 and 1046 which may be interconnected by screws, snap fittings, adhesive, etc. See Figure 35. In the illustrated arrangement, cable compartment segments 1044 and 1046 cooperate to form a pistol grip portion 1048 which can be held and manipulated by the physician. As will be discussed in more detail below, cable 1042 operably holds within it a plurality of drive systems, which are configured to generate and apply various control movements to the corresponding portions of the operably fixed interchangeable rod assembly. at the same.

Cable 1042 may also include a structure 1080 that operably supports a plurality of drive systems. For example, the structure 1080 may operably support a first closing drive system or system, generally referred to as 1050, which may be employed to apply closing and opening motions to the interchangeable rod assembly 1200 which is operably attached or coupled thereto. In at least one form, the closing drive system 1050 may include an actuator in the form of a closing trigger 1052 pivotally supported by frame 1080. More specifically, as illustrated in Figure 35, closing trigger 1052 may may be pivotally supported by the frame 1080 so that when the physician picks up the grip 1048 of the cable 1042, the closing trigger 1052 is easily pivoted from an initial position, or deactivated, to an activated position, and more particularly, to a fully depressed position, or fully activated position. Closing trigger 1052 may be pulled to the off position by a spring or other pull arrangement (not shown). In various forms, the locking drive system 1050 further includes a pivoting locking system 1060, which is pivotally coupled to the closing trigger 1052. As can be seen in Figure 35, the pivoting locking system 1060 may include a trigger 1052, pivotally coupled to a closure hinge 1064, which has a pair of laterally extended tabs or securing portions 1066 protruding therefrom. Closure hinge 1064 may also be referred to as a "fastener" in the present invention.

Still with reference to Figure 35, it can be seen that the closing trigger 1052 may contain a locking wall 1068 therein configured to cooperate with a lock release assembly 1070 pivotally coupled to the frame 1080. At least In one form, the lock release assembly 1070 may comprise a release button assembly 1072 having a distal projecting cam follower arm 1074 formed therein. The release button assembly 1072 can be pivoted counterclockwise by a release spring 1076. As the physician pushes the lock trigger 1052 from its off position toward the grip portion 1048 of cable 1042, the lock joint 1062 pivots upward to a point where the meat follower arm 1072 engages retaining engagement with locking wall 1068 at locking joint 1062, thereby preventing closing trigger 1052 from returning to the disabled position. In this way, the closing release assembly 1070 serves to lock the closing trigger 1052 in the fully activated position. When the physician wishes to unlock the lock trigger 1052 to allow it to be pulled to the off position, simply pivot the lock release button assembly 1072 so that the meat follower arm 1074 is released from engagement with the locking wall. 1068 at closing trigger 1052. When the meat follower arm 1074 has been released from engagement with the closing trigger 1052, the closing trigger 1052 may revert back to the disabled position. Other arrangements for locking and releasing the closing trigger may also be employed.

In at least one form, cable 1042 and frame 1080 can operably support another drive system, called in the present invention, trigger drive system 1100, which is configured to apply trigger movements to portions. of the interchangeable rod assembly attached to it. The trigger drive system may also be referred to in the present invention as a "second drive system". The trigger drive system 1100 may employ an electric motor 1102, located on the grip portion 1048 of cable 1042. In various forms, motor 1102 may be a brushed DC drive motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. An 1104 battery (or "power supply" or "battery pack"), such as a Li-ion battery, for example, may be coupled to the 1042 cable to provide power, an 1106 control circuit board assembly, and finally, the motor 1102. Figure 34 illustrates a battery pack compartment 1104, which is configured to releasably be mounted on cable 1042 to provide control power to the surgical instrument 1010. Several series-connected batteries can be used as the power supply to power the engine. In addition, the power supply may be replaceable and / or rechargeable.

As described above with respect to various other forms, the electric motor 1102 may include a rotary shaft (not shown), which operably communicates with a gear reduction assembly 1108, which is indented with a set, or rack, of drive teeth 1112 on a longitudinally movable drive member 1110. In use, a voltage polarity provided by the battery is capable of operating clockwise electric motor 1102, wherein the voltage polarity applied to the motor The battery can be reversed to operate the 1102 counterclockwise electric motor. When the electric motor 1102 is rotated in one direction, the drive element 1110 will be driven axially in the distal direction "D". When motor 1102 is driven in the reverse direction, drive element 1110 will be driven axially in a proximal direction "P". See, for example, Figure 35. Cable 1042 may include a switch that can be configured to reverse the polarity applied to electric motor 1102 by the battery. As with the other forms described in the present invention, cable 1042 may also include a sensor configured to detect the position of the driving element 1110 and / or the direction in which the driving element 1110 is being moved.

The actuation of motor 1102 can be controlled by a trigger trigger 1120 pivotally held by cable 1042. The trigger trigger 1120 can be pivoted between an off position and an activated position. Trigger 1120 can be pulled to the deactivated position by a spring (not shown) or other traction arrangement so that when the doctor releases the trigger 1120, it can be pivoted or in any case return to the deactivated position. by spring or traction arrangement. In at least one form, firing trigger 1120 may be positioned "apart" from closing trigger 1052, as discussed above. In at least one shape, a trigger button safety knob 1122 may be pivotally mounted to the closing trigger 1052. As can be seen from Figures 35 and 36, for example, the safety knob 1122 may be positioned between the trigger 1120 and closing trigger 1052 and having an articulated arm 1124 protruding therefrom. As shown in Figure 38, when the closing trigger 1052 is in the off position, the security button 1122 is contained in the cable compartment where the physician cannot readily access or move it from the safety position, which means prevents triggering of trigger 1120 to the trigger position at which trigger 1120 can be fired. As the clinician depresses the closing trigger 1052, the safety knob 1122 and the firing trigger 1120 pivot downward in a position that can be manipulated by the physician.

As indicated above, in at least one shape, the longitudinally movable drive member 1110 has a toothed rack 1112 formed therein for indentation with the corresponding drive gear 1114 of the gear reducer assembly 1108. at least one The form may also include a hand-operated "eject" assembly 1130, configured to allow the physician to manually retract the longitudinally movable drive member 1110 should the engine become disabled. The ejection assembly 1130 may include an ejector cable or lever assembly 1132 configured to be manually pivoted to ratchetly engage teeth 1112 on drive member 1110. Thus, the clinician can manually retract the drive element. 1110 using the eject cable assembly 1132 to move the drive member in the proximal direction "P" through the ratchet. US Patent Application Publication No. US 2010/0089970 describes ejection arrangements and other components, arrangements and systems that may also be employed in the various instruments described in the present invention. US Patent Application Serial No. 12 / 249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now US Patent Application Publication No. 2010/0089970, is incorporated in its entirety by reference.

Figures 34 and 37 illustrate a form of interchangeable rod assembly 1200 having, for example, a surgical end actuator 1300 operably attached thereto. End actuator 1300 as illustrated in these Figures may be configured to cut and staple fabrics in the various ways presented in the present invention. For example, end actuator 1300 may include a channel 1302 configured to hold a surgical staple cartridge 1304. Staple cartridge 1304 may comprise a removable staple cartridge 1304 so that it may be replaced when applied. However, the staple cartridge in other arrangements can be configured so that once it is installed inside the channel 1302, it can no longer be removed from it. A channel 1032 and staple cartridge 1304 may be collectively referred to as a "first jaw portion" of end actuator 1300. In various forms, end actuator 1300 may have a "second jaw portion" in the form of a anvil 1310, which is movable or pivotally supported on channel 1302 in the various ways discussed in the present invention.

Interchangeable shank assembly 1200 may also include a shank 1210 including a shank structure 1212 coupled to a shank securing module or a shank securing portion 1220. In at least one shape, a proximal end 1214 of the shank structure 1212 may extend through a hollow cylindrical portion 1222 formed in the shank clamping module 1220 and be rotatably attached thereto. For example, an annular groove 1216 may be provided at the proximal end 1214 of the shank frame 1212 for engagement with a U-shaped retainer 1226 extending through a slot 1224 in the shank clamping module 1220. This arrangement allows the shank frame 1212 is rotated relative to shank clamping module 1220.

The rod assembly 1200 may additionally comprise a hollow outer sleeve or closure tube 1250 through which the rod structure 1212 extends. Outer sleeve 1250 may also be referred to in the present invention as "first stem" and / or "first stem assembly". Outer sleeve 1250 has a proximal end 1252 which is adapted to be rotatably coupled to a closure tube clamping jaw 1260. As can be seen in Figure 37, the proximal end 1252 of outer sleeve 1250 is configured to be received. inside a cradle 1262 in the lock tube clamp 1260. A U-shaped connector 1266 extends through a slot 1264 in the lock tube clamp 1260 to be received in an annular groove 1254 at the end. 1252 of the outer sleeve 1250. This arrangement is for rotatably coupling the outer sleeve 1250 to the locking tube clamping jaw 1260 so that the outer sleeve 1250 can rotate relative thereto.

As can be seen from Figures 38 and 39, the proximal end 1214 of the rod structure 1214 projects proximally to the proximal end 1252 of the outer sleeve 1250, and is rotatably coupled to the rod clamping module 1220. U-shaped retainer 1226 (shown in Figure 38). Clamping tube clamp 1260 is configured to be slidably received within a passageway 1268 on the stem clamp module 1220. This arrangement allows the outer sleeve 1250 to be moved axially in the proximal direction "P" and distal direction "D" in the shank frame 1212 relative to the shank clamping module 1220, as will be discussed in more detail below.

In at least one form, the interchangeable rod assembly 1200 may also include a pivot joint 1350. Other interchangeable rod assemblies, however, may not be able to pivot. As can be seen in Figure 37, for example, pivot joint 1350 includes a double pivot closure glove assembly 1352. In various ways, the double-pivot closure glove assembly 1352 includes a pivot glove assembly. stem closure 1354 having distal projection top and bottom tabs 1356, 1358. An end actuator closure sleeve assembly 1354 includes a horseshoe-shaped opening 1360 and an ear 1362 for interconnecting the opening ear and anvil 1310. as described above. As described above, horseshoe opening 1360 and ear 1362 interconnect with anvil ear when anvil 1310 is opened. A 1364 double pivot top connection includes distal and proximal pivot pins that protrude upwardly and engage respectively a distal upper pin hole in the proximal upper projection flap 1356 and a proximal upper pin hole in the upper flange. 1256 distal projection on the outer sleeve 1250. A double-jointed lower connection 1366 includes downwardly projecting distal and proximal pivot pins that engage a distal lower pin hole in the proximal lower projection tab 1358 and a proximal lower pin hole in the distal lower projection tab 1258.

In use, the locking sleeve assembly 1354 is distally translated ("D" direction) to close the anvil 1310, for example in response to actuation of the closing trigger 1052. The anvil 1310 is closed by distally translating the outer sleeve 1250 and thereby the stem closing sleeve assembly 1354, causing it to find a proximal surface on the anvil 1310 in the manner described above. Also as described above, the anvil 1310 is opened by proximally translating the outer sleeve 1250 and the stem closing sleeve assembly 1354, causing the ear 1362 and the horseshoe opening 1360 to meet and press the ear of the anvil to lift anvil 1310. In the open anvil position, the stem closing sleeve assembly 1352 is moved to its proximal position.

In at least one form, the interchangeable rod assembly 1200 additionally includes a trigger element 1270 which is supported on the rod structure to effect an axial displacement 1212. The trigger element 1270 includes an intermediate portion of trigger rod 1272. which is configured to fit a distal cutting portion 1280. The triggering element 1270 may also be referred to as a "second rod" and / or "second rod assembly" in the present invention. As can be seen in Figure 37, the intermediate portion of the firing rod 1272 may include a longitudinal slit 1274 at its distal end which may be configured to receive the proximal end 1282 of the distal cutting portion 1280. The longitudinal slit 1274 and the proximal end 1282 may be sized and configured to allow relative movement therebetween and may comprise a sliding joint 1276. Sliding joint 1276 may allow an intermediate portion of firing rod 1272 of firing drive 1270 to be pivoted to end actuator 1300 without moving, or at least substantially not moving, the distal cutting portion 1280. When the end actuator 1300 has been properly oriented, the intermediate portion of the firing rod 1272 may be distally advanced until a proximal side wall of longitudinal slit 1272 contact proximal end 1282 to advance pull the distal cutting portion 1280 and fire the staple cartridge positioned within the channel 1302 as described in the present invention. As may be further seen in Figure 37, the rod structure 1212 itself has an elongated opening or window 1213 to facilitate arrangement and insertion of the intermediate portion of the firing rod 1272 into the rod structure 1212. When the intermediate portion of the firing rod 1272 has been inserted therein, an upper segment of the frame 1215 may be engaged with the rod structure 1212 to enclose in itself the intermediate portion of the firing rod 1272 and the distal cutting portion 1280. The reader will also note that the pivot joint 1350 may further include a guide 1368 which may be configured to receive the distal cutting portion 1280 of the firing member 1270 therein and to orient the distal cutting portion 1280 as it is distally advanced and / or retracted proximally within and / or relative to pivot joint 1350.

As can be seen from Figure 37, the stem clamp module 1220 may also include a lock actuator assembly 1230, which may be secured to the stem clamp module by non-pass bolts (not shown) or other appropriate fasteners. The lock actuator assembly 1230 is configured to cooperate with a locking jaw 1240 pivotally coupled to the stem clamping module 1220 to provide a pivoting offset relative to the module. See Figure 41. With reference to Figure 39, locking jaw 1240 may include two proximally projecting locking tabs 1242 (Figure 37) configured for releasable engagement with corresponding locking stoppers or grooves 1086 formed in a portion of frame retainer 1084 of frame 1080, as will be discussed in more detail below. The locking jaw 1240 is substantially U-shaped and is installed on the lock actuator assembly 1230 after the lock actuator assembly 1230 is coupled to the stem clamp module 1220. The lock actuator assembly 1230 may have a arched body portion 1234 which provides sufficient clearance for locking jaw 1240 to rotate relative to it between locked and unlatched positions.

In various forms, locking claw 1240 is pulled proximally by the spring or traction element (not shown). In other words, the locking jaw 1240 is pulled to the locked position (Figure 40) and can be turned to the unlocked position (Figure 41) by a locking button 1236 movably held by the locking actuator assembly 1230. In At least one arrangement, for example, the lock button 1236 is slidably retained within a lock housing portion 1235 and is pulled in the proximal direction "P" by a lock spring or traction element (not shown). . As will be discussed in more detail below, the lock button 1236 has a distally projecting release tab 1237 designed to engage the locking jaw 1240 and pivot it from the locked position to the unlocked position shown in Figure 41. , by actuation of the lock button 1236.

Interchangeable rod assembly 1200 may also include a nozzle assembly 1290 rotatably supported on the rod clamping module 1220. In at least one form, for example, the nozzle assembly 1290 may be comprised of two halves or nozzle portions 1292, 1294, which can be interconnected by screws, snap-fit features, adhesive, etc. When mounted on the stem clamping module 1220, the nozzle assembly 1290 can communicate with the outer sleeve 1250 and the stem structure 1212 to allow the clinician to rotate the stem 1210 relative to the stem clamping module 1220 around the SA-SA shank axis, which can be defined, for example, as the axis of the firing element assembly 1270. In particular, a portion of the nozzle assembly 1290 may extend through a window 1253 in the outer sleeve. to engage a notch 1218 in the shank frame 1212. See Figure 37. Thus, rotation of the nozzle assembly 1290 will result in the rotation of shank frame 1212 and outer sleeve 1250 about the AA axis relative to the AA axis. rod clamping module 1220.

Referring now to Figures 42 and 43, the reader will notice that the frame clamping module 1084 portion of frame 1080 is formed by two inward-facing dovetail receiving slots 1088. All receiving type slots dovetail 1088 may be tapered or otherwise stated in a V-like shape. See, for example, Figures 36 and 38 (only one of the slots 1088 is shown). Swallowtail receiving slots 1088 are configured to releasably receive the corresponding tapered tab or locking portions 1229 of a proximally extending connector portion 1228 of the rod clamp module 1220. As may also be seen in Figures 37 to 39, a rod locking tab 1278 is formed at the proximal end 1277 of intermediate firing rod 1272. As will be discussed in more detail below, when the interchangeable rod assembly 1200 is coupled to cable 1042, the tab 1278 is provided in a firing rod clamping cradle 1113 formed at the distal end 1111 of the longitudinal drive member 1110. In addition, the locking tube clamping jaw 1260 includes a proximally extended jaw portion 1265, which includes two 1267 capture slots opening downward to capture the retaining clips 1066 on the attachment bar. and closing 1064.

Attachment of the interchangeable rod assembly 1220 to cable 1042 will now be described with reference to Figures 44 to 48. In various forms, structure 1080, or at least one of the drive systems, defines an actuation shaft AA. -AA. For example, the actuation axis AA-AA may be defined by the axis of the longitudinally movable drive element 1110. Thus, when the intermediate firing rod 1272 is operably coupled to the longitudinally movable drive element 1110, the actuation shaft AA-AA is coaxial to the SA-SA shank as shown in Figure 48.

To begin the coupling process, the clinician may position the stem clamping module 1220 of the interchangeable rod assembly 1200 above or beside the portion of the frame clamping module 1084 of frame 1080, so that the clamps 1229 formed on the connector portion 1228 of the rod clamp module 1220 are aligned with the dovetail-type slots 1088 on the clamp module portion 1084, as shown in Figure 45. The clinician can then move the clamp module rod clamping 1220 along an IA-IA installation axis substantially transverse to the AA-AA actuation axis. In other words, the stem clamping module 1220 is moved in an "ID" installation direction substantially transverse to the AA-AA drive shaft until the clamping legs 1229 of the connector portion 1228 are seated in "operational engagement" with the corresponding dovetail receiving slots 1088. See Figures 44 and 46. Figure 47 illustrates the position of the rod clamping module 1220 before rod clamping tab 1278 on intermediate firing rod 1272 enters cradle 1113. the longitudinally movable drive member 1110 and the locking tabs 1066 on the locking clamping bar 1064 enter the corresponding slots 1267 in the clamping portion 1265 of the clamping tube clamping 1260. Figure 48 illustrates the position of the clamping module stem 1220 after the clamping process has been completed. As can be seen in this figure, tabs 1066 (only one shown) are operably engaged in their respective slots 1267 in the jaw portion 1265 of the locking tube clamping jaw 1260. As used in the present invention, the term " operable coupling "by reference to two components means that the two components are engaged with each other in such a way that, by applying an actuation motion to them, the components can perform the desired action, function and / or procedure.

As discussed above, referring once again to Figures 44 to 49, at least five systems of the interchangeable rod assembly 1200 may be operably coupled to at least five corresponding cable systems 1042. A first system may comprise a frame system that engages and / or aligns the frame of the rod assembly 1200 with the cable frame 1042. As described above, the connector portion 1228 of the rod assembly 1200 may be engaged with the securing module portion 1084 of the frame. A second system may comprise a closing actuation system operably connectable to the closing trigger 1052 of the cable 1042 and the closing tube 1250 and anvil 1310 of the stem assembly 1200. As described above , the clamping tube clamping jaw 1260 of the rod assembly 1200 may be engaged with the clamping lugs 1066 of the cable 1042. A third system may comprise a clamping system. trigger actuator, which can operably connect to trigger trigger 1120 of cable 1042, with intermediate trigger rod 1272 of rod assembly 1200. As described above, rod retaining tab 1278 can be connected securely. operable to the cradle 1113 of the longitudinal drive member 1110. A fourth system may comprise an electrical system which may one send a signal to a controller on cable 1042, such as a microcontroller 7004, for example, that a rod assembly such as rod assembly 1200, for example, has been operably engaged with cable 1042, and / or two, to conduct power and / or communication signals between rod assembly 1200 and cable 1042. For example, rod assembly 1200 can include six electrical contacts, and electrical connector 4000 can also include six electrical contacts, where each electrical contact on the 1200 rod assembly can be paired and fitted into an electrical contact on the electrical connector. 4000 when rod assembly 1200 is arranged together on cable 1042. Rod assembly 1200 may also include a lock 1236, which may be part of a fifth system, such as a locking system, which may releasably lock the assembly 1200 to rod 1042. In various circumstances, lock 1236 may close a circuit in cable 1042, for example, when lock 1236 is engaged with cable 1042.

In addition to the above, the frame system, closing actuation system, trigger actuation system, and stem assembly electrical system 1200 may be arranged together on the corresponding cable systems 1042 towards each other. ie along the axis IA-IA, for example. Under various circumstances, the frame system, closing actuation system, and stem assembly trigger system 1200 may be coupled simultaneously to the corresponding cable systems 1042. In certain circumstances, two of the structure system, the closing actuation system and the rod assembly 1200 triggering system may be coupled simultaneously to the corresponding cable systems 1042. In at least one case, the frame system may be at least initially coupled before closing drive system and the trigger drive system are coupled. Under these circumstances, the frame system may be configured to align the corresponding components of the closing drive system and the trigger drive system before they are coupled as described above. Under various circumstances, the portions of the electrical system in bay assembly 1200 and cable 1042 may be configured to be coupled at the same time as the frame system, closing actuation system and / or tripping system are completely or fully seated. Under certain circumstances, the electrical system portions of bay assembly 1200 and cable 1042 may be configured to be coupled before the frame system, closing actuation system, and / or the trip actuation system is fully or fully engaged. seated. In some circumstances, the electrical system portions of the bay assembly 1200 and cable 1042 may be configured to be coupled after the frame system has been at least partially coupled, but before the closing drive system and / or triggering system are coupled. In many circumstances, the locking system may be configured to be the last system to be engaged, ie after the frame system, closing drive system, trigger drive system and electrical system are in place. all engaged.

As described above, again with reference to Figures 44 to 49, the electrical connector 4000 of cable 1042 may comprise a plurality of electrical contacts. Turning now to Figure 197, the electrical connector 4000 may comprise a first contact 4001a, a second contact 4001b, a third contact 4001c, a fourth contact 4001 d, a fifth contact 4001 e and a sixth contact 4001 f, for example. Although the illustrated embodiment uses six contacts, other embodiments are designed that use more than six contacts or less than six contacts. As illustrated in Figure 197, the first contact 4001a may be in electrical communication with a transistor 4008, contacts 4001b through 4001 and may be in electrical communication with a 7004 microcontroller, and the sixth contact 4001f may be in electrical communication with a ground. The 7004 microcontroller is discussed in more detail below. Under certain circumstances, one or more of the 4001b to 4001 electrical contacts may be in electrical communication with one or more 7004 microcontroller output channels and may be energized or have a potential difference applied to them when cable 1042 is in an energized state. . In some circumstances, one or more of the 4001b to 4001 electrical contacts may be in electrical communication with one or more 7004 microcontroller input channels, and when the 1042 cable is in a powered state, the 7004 microcontroller may be configured to detect when A potential difference is applied to these electrical contacts. When a rod assembly, such as rod assembly 1200, for example, is arranged together on cable 1042, electrical contacts 4001a through 4001f cannot communicate. When a rod assembly is not disposed together on cable 1042, however, electrical contacts 4001a to 4001f of electrical connector 4000 may be exposed and, in some circumstances, one or more of contacts 4001a to 4001f may be accidentally placed in communication. electric These circumstances may arise when one or more of the contacts 4001a through 4001f come into contact with an electrically conductive material, for example. When this occurs, the 7004 microcontroller may receive a wrong input and / or the stem assembly 1200 may receive a wrong output, for example. To address this problem, under various circumstances, cable 1042 may be de-energized when a rod assembly such as rod assembly 1200, for example, is not attached to cable 1042. In other circumstances, cable 1042 may be energized when a rod assembly, such as rod assembly 1200, for example, is not attached thereto. Under these circumstances, the 7004 microcontroller may be configured to ignore inputs or potential differences applied to contacts in electrical communication with the 7004 microcontroller, that is, contacts 4001b to 4001 and, for example, until a rod assembly is attached to cable 1042. Even though it is possible to power the 7004 microcontroller to operate other cable features 1042, under these circumstances, the cable may be in a de-energized state 1042. In some ways, the electrical connector 4000 may be in a de-energized state because the potential differences applied to the contacts. 4001b to 4001 and cannot affect the operation of cable 1042. The reader will understand that although the 4001b to 4001 contacts may be in a de-energized state, the 4001a and 4001f electrical contacts, which are not in electrical communication with the 7004 microcontroller, may or may not be in a de-energized state. For example, the sixth contact 4001 f may remain in electrical communication with a ground, regardless of whether the 1042 cable is in energized or de-energized state. In addition, transistor 4008, and / or any other suitable arrangement of transistors, such as transistor 4010, for example, and / or switches, may be configured to control the power supply of a power supply 4004, such as a battery 1104, inside cable 1042, for example, to the first electrical contact 4001a, regardless of whether cable 1042 is in energized or de-energized state as described above. In various circumstances, latch 1236 of stem assembly 1200, for example, may be configured to change the state of transistor 4008 when latch 1236 is engaged with cable 1042. In various circumstances, as described in other passages of the present invention, lock 1236 may be configured to close a circuit when it is attached to cable 1042 and, as a result, affect the state of transistor 4008. In certain circumstances, in addition to what is mentioned below, a Hall effect sensor 4002 may be configured to switch the transistor 4010, which, as a result, can switch the state of transistor 4008 and ultimately provide power from the power supply 4004 to the first contact 4001a. Thus, in addition to the above, both power circuits and signal circuits for connector 4000 can be de-energized when a rod assembly is not installed on cable 1042 and energized when a rod assembly is installed on cable 1042. .

In various circumstances, again with reference to Figure 197, cable 1042 may include Hall effect sensor 4002, for example, which may be configured to detect a detectable element, such as a magnetic element, for example, in an array. such as rod assembly 1200, for example, when the rod assembly is coupled to cable 1042. Hall effect sensor 4002 may be powered by a power supply 4006, such as a battery which may, actually amplify the Hall effect sensor detection signal 4002 and communicate with a microcontroller input channel 7004 via the circuit shown in Figure 197. When the microcontroller 7004 has received an input indicating that a rod assembly has been at least partially coupled to cable 1042 and that as a result electrical contacts 4001a to 4001f are no longer exposed, the 7004 microcontroller may enter its normal or energized state. In such an operating state, the 7004 microcontroller will evaluate the signals transmitted to one or more of the contacts 4001b to 4001 and from the stem assembly and / or transmit signals to the stem assembly via one or more of the contacts 4001b to 4001 and in normal use. In various circumstances, rod assembly 1200 may need to be fully seated before Hall effect sensor 4002 can detect the magnetic element. Although a Hall effect sensor 4002 may be used to detect the presence of rod assembly 1200, any suitable sensor and / or switch system may be used to detect whether a rod assembly has been arranged together on cable 1042, for example. Thus, in addition to the above, both power circuits and signal circuits for connector 4000 can be de-energized when a rod assembly is not installed on cable 1042 and energized when a rod assembly is installed on cable 1042. .

In various embodiments, any number of magnetic sensing elements may be employed to detect whether a rod assembly has been arranged together on cable 1042, for example. For example, technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnesistance, giant magnesistance, magnetic tunnel junctions, magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, transistor. magnetic, optical fiber, magneto-optical and magnetic sensors based on microelectromechanical systems, among others.

After the interchangeable stem assembly 1200 has been operably coupled to cable 1042, actuation of the closing trigger 1052 will result in axial distal advance of the outer sleeve 1250 and the stem closing sleeve assembly 1354 coupled thereto. to drive the anvil 1310 in the various ways presented in the present invention. Also as seen in Figure 48, firing member 1270 in interchangeable rod assembly 1200 is coupled to longitudinally movable drive member 1110 in cable 1042. More specifically, rod retaining tab 1278 formed at proximal end 1277 of rod 1272 is received within the firing rod clamping cradle 1113 formed at the distal end 1111 of the longitudinally movable drive member 1110. Thus, the actuation of the firing trigger 1120, which results in motor 1102 being energized Advancing the longitudinally movable drive member 1110 will also cause the triggering member 1270 to move axially within the stem structure 1212. This will cause the distal cutting portion 1280 to advance through the pinched tissue at the end actuator 1300 at various ways presented in the present invention. While not shown in Figure 48, the skilled artisan will also understand that when in the coupled position shown in that figure, the locking tab portions 1229 of the stem clamping module 1220 are seated within their respective receiver slots. dovetail type 1088 on the 1084 clamp module portion of frame 1080. Thus, the rod clamp module 1220 is coupled to frame 1080. Also, although not shown in Figure 48 (but you can see Figure 40 ), when the stem clamping module 1220 has been coupled to the frame 1080, the locking tabs 1242 on the locking jaw 1240 are seated in their respective locking grooves 1086 (only one is shown in Figure 40) in the portion of the locking module. retainer 1084 of frame 1080 to releasably retain rod clamping module 1220 in operable engagement coupled with frame 1080.

[00275] To disengage interchangeable rod assembly 1220 from frame 1080, the clinician presses lock button 1236 in distal direction "D" to cause locking jaw 1240 to revolve as shown in Figure 41. This revolutionary motion of the treatment jaw 1240 causes its locking tabs 1242 to move free of engagement with locking grooves 1086. The clinician can then move the stem clamp module 1220 from the cable in the direction of disconnection "DD "as shown in Figure 49.

Those of skill in the art will understand that the rod clamping module 1220 may also be kept stationary, and that the cable 1042 may be moved along the installation axis IA-IA, which is substantially transverse to the rod axis SA -SA, for taking the tabs 1229 on the connector portion 1228 to the seating engagement with the dovetail slots 1088. It will further be understood that the rod clamping module 1220 and the cable 1042 can be simultaneously moved towards one another. another along the installation axis IA-IA, which is substantially transverse to the SA-SA shank axis and the AA-AA drive shaft.

As used in the present invention, the term "substantially transverse to actuation axis and / or rod axis" refers to a direction that is substantially perpendicular to the actuation axis and / or rod axis. It will be understood, however, that directions that deviate slightly from the perpendicular to the actuation axis and / or the rod axis are also practically transverse to these axes.

Figures 50 to 57 illustrate another arrangement for coupling an interchangeable rod assembly 1600 to a cable frame 1480 (not shown) which otherwise functions as cable 1042 discussed in detail in the present invention. Thus, only the details needed to understand the unique and innovative coupling features of the 1600 rod assembly will be discussed in more detail. Those skilled in the art will, however, understand that the structure may be supported within a compartment of a robotic system which still operably supports or houses a plurality of drive systems. In other arrangements, the frame may comprise a portion of a robotic system for operably affixing the interchangeable rod assemblies thereto.

In at least one form, stem assembly 1600 includes a stem 1610 which may include all other stem components 1210 described above and may have an end actuator (not shown) of the type described above operably attached to the stem. same. Turning to Figure 57, in the illustrated arrangement, rod assembly 1600 includes a closure tube clamping jaw 1660, which may be pivotally coupled to an outer sleeve 1650, in the manner that clamping tube clamping assembly 1260 was rotatably coupled to the outer sleeve 1250.

In various forms, the rod assembly 1600 includes a rod clamping module or rod clamping portion 1620 which has an open bottom 1621. The rod 1610 is coupled to the rod clamping module 1620 by the insertion of the proximal end. 1610 through an aperture 1622 in the stem clamping module 1620. Closing tube clamping jaw 1660 may be inserted into the stem clamping module 1620 through the open bottom portion 1621, so that the proximal end 1652 of the outer sleeve 1650 is received in cradle 1662 in the lock tube clamping jaw 1660. In the manner discussed above, a U-shaped connector 1666 is passed through a slot 1624 in the rod clamping module 1620 to engage the an annular groove 1654 at the proximal end 1652 of the outer sleeve 1250, and the slots 1664 in the locking tube clamping jaw 1660 to secure the outer sleeve 1650 to the locking tube clamping jaw 1660. As discussed above, this arrangement allows the outer sleeve 1650 to rotate relative to the stem clamping module 1620.

In at least one form, the lock tube clamping jaw 1660 is configured to be supported within the rod clamping module 1620 so that the lock tube clamping jaw 1660 moves axially therein. in the distal and proximal directions. In at least one form, a locking spring 1625 is provided within the stem clamping module to pull the locking tube clamp assembly 1660 in the proximal direction "P". See Figure 57. As with rod assembly 1210 described above, proximal end 1614 of rod structure 1612 protrudes proximally from proximal end 1652 of outer sleeve 1650. As can be seen from Figure 57, a retaining ring 1617 may be formed at the proximal end 1614 of the shank frame 1612. A U-shaped retaining member 1627 is inserted through a side slot 1633 in the shank clamping module 1620 to retain the proximal end 1652 of the outer sleeve at the while allowing the outer sleeve 1650 to rotate relative to the stem clamping module 1620. This arrangement allows the clinician to rotate the rod 1610 about the SA-SA shank axis relative to the stem clamping module. rod 1620. Those skilled in the art will understand that rod 1610 may be rotated by the same nozzle arrangement described above or similar arrangement. For example, the nozzle portions (not shown) may be arranged together around the outer sleeve 1650 and engage the notch 1618 in the rod frame 1612 through the window 1653 in the outer sleeve 1650. See Figure 53.

In at least one form, frame 1480 has a frame clamping module or a frame clamping portion 1484 formed thereon or attached thereto. The frame clamping module 1484 may be formed with opposing dovetail receiver slots 1488. Each dovetail receiver slot 1488 may be tapered or otherwise shaped like a V. 1488 are configured to releasably receive the corresponding portion of a dovetail connector 1629 protruding from a proximal end of the rod clamping module 1620. As can be seen from Figure 52, the proximal end 1677 of the rod Intermediate firing 1672 projects proximally from the stem clamping module 1620 and has a stem clamping tab 1678 formed thereon. A proximal end 1677 of the intermediate firing rod 1672 may extend through the space between the end walls 1485 of the frame clamping module 1484 to allow the rod clamping tab 1678 formed thereon to be received in a clamping cradle. firing rod 1513 formed at the distal end 1511 of the longitudinally movable drive member 1510. See Figure 57. When the interchangeable rod assembly 1600 is coupled to the cable, or housing, or structure of the surgical instrument, device, robotic system, etc., the stem retaining tab 1678 is received in a firing rod retaining cradle 1513 formed at the distal end 1511 of the longitudinally movable drive member 1510.

As can also be seen from Figures 52 to 55, the frame clamping module 1484 may have a distal projecting lower member 1490 and is adapted to lock at least a portion of the open bottom 1621 of the clamping module. 1620 when the 1620 clamping module is operably coupled to the frame clamping module 1484. In one form, the locking tube clamping jaw 1660 has a pair of proximally extending spaced claw arms 1661, projecting from it. A transverse clamping pin 1663 may extend therebetween. See Figure 57. When the 1620 rod clamping module is operably engaged with the 1484 frame clamping module, the jaw clamping pin 1663 is configured to be hooked by a hook 1469 formed on a closing hinge 1467. closing drive system 1450. The closing drive system 1450 may be similar to the 1050 closing drive system described above and include a closing trigger 1452 and a hinged closing system 1460. The hinged closing system 1460 may include a locking link 1462 pivotally coupled to the locking bar 1464. Locking bar 1464 is pivotally coupled to the closing pivot 1467. See Figure 54.

A method of coupling rod assembly 1600 to frame 1480 may be understood by reference to Figures 53 and 54. As with other embodiments of the present invention, rod assembly 1600 may define a rod axis SA -SA, and frame 1480 can define an AA-AA drive shaft. For example, the SA-SA shank axis can be defined by the triggering element 1670, and the AA-AA actuating shaft can be defined by the longitudinally movable driving element 1510. To initiate the coupling process, the clinician can position the 1620 interchangeable rod assembly 1620 rod clamping module above or adjacent to the 1484 frame clamping module 1480 so that the 1629 dovetail type 1620 dovetail connector is aligned with the slots of the dovetail type 1488 on the clamping module of the frame clamping module 1484 as shown in Figure 53. The clinician can then move the rod clamping module 1620 along a substantially transverse IA-IA installation axis the drive shaft AA-AA. In other words, the rod clamping module 1620 is moved in an "ID" installation direction substantially transverse to the AA-AA drive shaft until the dovetail connector 1629 is seated in the tail-type slots. swallow 1488 on frame module 1484. See Figures 55 to 57. When rod clamp module 1620 has been operably engaged with frame clamp module 1484, closure tube clamp clamp 1665 will be engaged so operable to the closing drive system 1450, and actuation of the closing trigger 1452 will result in the distal axial advancement of the outer sleeve 1650 and the actuation of the anvil by the attached stem closing tube assembly in the various ways set forth in the present invention. . Similarly, trigger element 1270 will be operably engaged with longitudinally movable drive member 1510. See Figure 57. Thus, motor actuation (not shown) of trigger drive system 1500 will result in axial advance of the longitudinally movable drive member 1510, as well as advancing trigger member 1670. This action will advance the distal cutting portion of the trigger member (not shown) through the pinched fabric on the end actuator in the various ways presented in the present invention. .

Figures 58 to 62 illustrate another arrangement for coupling an interchangeable rod assembly 1900 to a cable structure 1780 (not shown) which otherwise functions as cable 1042 discussed in detail in the present invention. Thus, only the details needed to understand the unique and innovative coupling features of the 1900 rod assembly will be discussed in more detail. Those skilled in the art will, however, understand that the frame may be supported within a housing or other portion of a robotic system which still operably supports or houses a plurality of drive systems. In other arrangements, the frame may comprise a portion of a robotic system for operably affixing the interchangeable rod assemblies thereto.

In at least one form, the stem assembly 1900 includes a stem 1910 which may include all other stem components 1210 described above and may have an end actuator of the type described above, for example (not shown) fixed. operable to it. Turning to Figure 62, in the illustrated arrangement, rod assembly 1900 includes a closure tube clamping jaw 1960, which may be pivotally coupled to an outer sleeve 1950 in the manner that clamping tube clamping assembly 1260 has been provided. swivelly coupled to outer sleeve 1250.

In various forms, the rod assembly 1900 may include a rod clamping module or rod clamping portion 1920 having an open bottom 1921. The rod 1910 is coupled to the rod clamping module 1920 by inserting the end. stem 1910 through an aperture 1922 in the stem clamp module 1920. Closing tube clamping jaw 1960 may be inserted into the stem clamp module 1920 through the open bottom potion 1921, so that the proximal end 1952 of the outer sleeve 1950 is received in the cradle 1962 in the lock tube clamping jaw 1660. In the manner discussed above, a 1966 U-shaped connector engages an annular groove (not shown) at the proximal end 1952 of the outer sleeve. 1964 and the 1964 slots in the closing tube clamping jaw 1960 to affix the outer sleeve 1950 to the closing tube clamping jaw 1960. As discussed above, this arrangement allows the glove to external rod 1950 rotates relative to the rod clamping module 1920.

In at least one form, the lock tube clamp 1960 is configured to be supported within the stem clamp module 1920 so that the lock tube clamp assembly 1960 moves axially in its direction. in the distal ("D") and proximal ("P") directions. As with the stem assembly 1210 described above, the proximal end of the stem structure projects proximally from the proximal end 1952 of outer sleeve 1950. As can be seen from Figure 62, a retaining ring 1917 may be formed. at the proximal end of the rod structure. A 1927 U-shaped retaining member may be employed to hold the proximal end of the shank structure in the axial position while allowing the shank structure to rotate relative to the shank clamping module 1920. This arrangement allows the physician to rotate rod 1910 about rod axis SA-SA relative to rod assembly 1920. A nozzle assembly 1990 may be employed in a number of ways discussed in the present invention to facilitate rotation of rod 1910 relative to rod assembly. shank fixing 1920.

The interchangeable stem assembly 1900 may also include a rotatably supported nozzle assembly 1990 in the stem clamping module 1920. In at least one shape, for example, the 1990 nozzle assembly may be comprised of two halves or nozzle portions, which can be interconnected by screws, snap-fit features, adhesive, etc. When mounted on the stem clamp module 1920, the mouthpiece assembly 1990 may communicate with a stem rotation adapter 1995 configured to engage the outer sleeve 1950 and stem structure 1912 to allow the physician to rotate. selectively rod 1910 with respect to rod clamping module 1920 about rod axis SA-SA, which can be defined, for example, as the axis of the trigger element assembly. Thus rotation of the nozzle assembly 1990 will result in the rotation of the stem structure and outer sleeve 1950 about axis A-A relative to the stem clamping module 1920.

In at least one form, the frame 1780 has a frame securing module or frame securing portion 1784 formed thereon or attached thereto. The frame clamping module 1784 may be formed with outward-facing dovetail receiver slots 1788. Each dovetail-like receiver slot 1788 may be tapered or otherwise shaped like a V. See Figure 60. Slots 1788 are configured to releasably and operably engage the inward-facing dovetail connector portions 1929 that are formed in the 1920 pin clamp module. As can be seen from Figure 60, a proximal end 1977 of intermediate firing rod 1972 protrudes proximally from rod clamping module 1920 and has a rod clamping tab 1978 formed thereon. The stem retaining tab 1978 is configured to be received in a firing rod retaining cradle 1813 formed at the distal end 1811 of the longitudinally movable drive member 1810. See Figure 62. When the interchangeable stem assembly 1900 is in engagement operable with the structure or housing of the surgical instrument, device, robotic system, etc., the 1978 stem clamp tab is received in operable engagement with a firing rod clamp 1813 formed at the distal end 1811 of the drive member. longitudinally 1810.

In at least one form, the locking tube clamping jaw 1960 has a protruding proximal extension claw arm 1961 and has a downwardly opening hook 1963 formed in itself to engage a clamping lug. 1766 formed in the locking bar 1764 of the 1750 locking drive system. See Figure 62. When the 1920 rod clamp module is engaged with the 1784 frame clamp module, the 1766 clamp tab is hooked by the hook 1963 formed on the lock tube clamp arm 1961. The lock drive system 1750 may be similar to the lock drive system 1050 described above and include a lock trigger 1752 and a hinged lock system 1760. 1760 hinge closure system may include a 1762 hinge closure pivotally coupled to the 1764 locking bar. See Figure 62. Actuation of the closing trigger 1752 will result in the axial movement of the closing clamp bar 1764 in the distal direction "D".

As with other arrangements set forth in the present invention, stem assembly 1900 may define an SA-SA stem axis, and frame 1780 may define an AA-AA actuation shaft. For example, the SA-SA shank may be defined by the firing element 1970, and the actuating axis AA-AA may be defined by the longitudinally movable drive element 1810 operatively supported by the frame 1780. To begin the process of The clinician may position the 1920 rod assembly of the interchangeable rod assembly 1900 above or beside the 1784 frame attachment module of the 1780 frame so that the 1929 dovetail connector portions of the rod clamping 1920 are all aligned with their corresponding 1788 dovetail slots in the frame clamping module 1784. The clinician can then move the rod clamping module 1920 along an installation axis substantially transverse to the axis. AA-AA operating range. In other words, the rod clamping module 1920 is moved in an installation direction substantially transverse to the AA-AA actuation shaft until the 1929 dovetail connectors are seated in their corresponding dovetail slots. 1788 on frame module 1784. When the 1920 rod clamp module has been secured to the 1784 frame clamp module, the lock tube clamp 1960 is operably engaged with the lock drive system 1750, and the actuation of the 1752 closing trigger will result in distal axial feed! of the outer sleeve 1950 and the actuation of the anvil by the coupling rod assembly attached thereto in the various ways presented in the present invention. Similarly, the triggering element will be coupled in operable engagement with the longitudinally movable drive element 1810. See Figure 62. Thus, motor actuation (not shown) of the triggering system 1800 will result in the axial advance of the element. longitudinally movable drive element 1810, as well as advancing firing element 1970. This action will advance the distal cutting portion of the firing element (not shown) through the pinched fabric on the end actuator in the various ways presented in the present invention.

Figures 63 to 66 illustrate another arrangement for coupling an interchangeable rod assembly 2200 to a cable frame 2080 (not shown), which may function as cable 1042 discussed in detail in the present invention. Therefore, only the details needed to understand the unique and innovative coupling features of the 2200 rod assembly will be discussed in more detail. Those skilled in the art will, however, understand that the frame may be supported within a housing or other portion of a robotic system which still operably supports or houses a plurality of drive systems. In other arrangements, the frame may comprise a portion of a robotic system for operably affixing the interchangeable rod assemblies thereto.

In at least one form, the rod assembly 2200 includes a rod 2210 which may include all other rod components 1210 described above and may have an end actuator (not shown) of the type described above operably attached to the rod. same. The various constructs and operations of these features are described above. In the illustrated arrangement, the stem assembly 2200 includes a locking tube clamping jaw 2260, which can be pivotally coupled to an outer sleeve 2250, so that the locking tube claw clamping jaw 1260 has been coupled. swivel mode to outer sleeve 1250. Rod assembly 2200, however, does not include a rod clamping module as described above.

As can be seen from Figures 63 to 65, the frame 2080 may be formed by a first frame part 2080A and a second frame part 2080B. In applications where the frame 2080 is employed with a cable, the first and second frame part 2080A and 2080B may both be associated with a cable compartment portion. Therefore, when the clinician wishes to secure a different rod assembly 2200, he may need to detach the cable compartment portions of both. In such arrangements, for example, the housing portions may be joined by removable fasteners, or other arrangements which facilitate easy disengagement of the housing portions. In other embodiments, rod assembly 2200 may be configured for single use. In the illustrated arrangement, the first frame part 2080A may operably support various drive systems therein, and the second frame part 2080B may comprise a frame portion retaining the various components of the rod assembly 2200 in operable engagement with each other. their corresponding drive system components, which are supported by first part 2080A.

In at least one form, the locking tube clamping jaw 2260 is configured to be held within a passageway 2081 in the frame 2080 so that the locking tube clamping jaw 2260 moves axially in. inside, in the distal and proximal directions. As with the stem assembly 1210 described above, the proximal end 2214 of the stem structure 2212 projects proximally from the proximal end 2252 of the outer sleeve 2250. As can be seen from Figure 63, a retaining ring 2217 can be be formed at the proximal end 2214 of the rod structure 2212. Retaining ring 2217 may be adapted to be pivotally received in an annular groove 2083 formed in frame 2080. This arrangement serves to operably couple the rod structure 2212 to the structure. 2080 so as to prevent any relative axial movement between these components while allowing the rod structure 2212 to rotate relative to the 2080 structure. This arrangement further allows the physician to rotate the rod 2210 about the rod axis. SA-SA in relation to the structure. Those skilled in the art will understand that a nozzle arrangement that has been described above may be employed to rotate rod 2210 about rod axis SA-SA relative to frame 2080. For example, nozzle portions (not shown) may be arranged together around outer sleeve 2250 and engage notch 2218 in stem structure 2212 through window 2253 in outer sleeve 2250. See Figure 64.

As can also be seen from Figure 64, the proximal end 2277 of the intermediate firing rod 2272 protrudes proximally from the proximal end 2214 of the rod structure 2212 and has a rod securing tab 2278 formed thereon. Trigger rod securing cradle 2113 formed at the distal end 2111 of longitudinally movable drive member 2110 is formed to allow trigger rod securing tab 2278 to be laterally loaded. In an effort to assist the clinician in aligning the rod assembly 2220 components with the first and second frame portions 2080A and 2080B during joint arrangement, the second frame portion 2080B may be provided with tabs 2090 which are configured to be received in the corresponding holes or pockets 2091 formed in the first frame portion 2080A and vice versa. In single use applications where undocking of rod assembly 2200 of frame 2080 is not desirable, pockets 2090 may be configured to permanently secure or engage the tabs 2090 inserted thereon.

The first frame portion 2080A and / or the longitudinally movable drive member 2110, which is movably supported by the first frame portion 2080A, may define an actuation axis AA, and the rod assembly 2200 defines the axis. SA-SA As can be seen from Figure 64, to initiate the coupling process, rod assembly 2200 and first frame portion 2080A can be reciprocally oriented such that SA-SA rod axis is substantially parallel to actuation shaft AA- AA, and such that the ring 2217 is laterally aligned along the installation axis IA, which is substantially transverse to the actuation axis, with annular groove 2083, and the stem retaining tab 2278 is laterally aligned along another IA-IA installation shaft, which is also substantially transverse to the AA-AA drive shaft. The rod assembly 2200 is then moved in an "ID" installation direction, which is substantially transverse to the AA-AA actuation shaft, until the lock tube clamping jaw 2260 is seated in the portion of passage 2081 formed in the first frame portion 2080A, ring 2217 is seated within the annular groove portion 2083 formed in the first frame portion 2080A, and the stem retaining tab 2278 is seated on the stem retaining cradle 2113 formed in the longitudinally movable drive member 2110. In another arrangement, rod assembly 2200 and first frame portion 2080A may be similarly joined by firmly holding rod assembly 2200 and moving first frame portion 2080A towards cable assembly 2200 until the aforementioned component portions are operably seated, or the cable assembly 2200 and the first frame portion 2080A can be brought together until they are united. When the cable assembly 2200 is operably seated within the first frame portion 2080A as shown in Figure 63, the second frame portion 2080B may be joined to the first frame portion 2080A by aligning the pegs 2090 with their holes or pockets. 2091 and joining the components together. The first and second frame portions 2080A and 2080B may be held together by fasteners (e.g., screws, bolts, etc.), adhesive and / or snap fit features. In still other arrangements, the first frame portion 2080A and the second frame portion 2080B may be held together in coupled engagement after their respective housing segments are joined.

Once the first and second frame portions 2080A, 2080b are joined as shown in Figures 65 and 66, the clinician can then couple the locking drive system 2050 to the locking tube clamping jaw 2260. The closing drive system 2050 may be similar to the closing drive system 1050 described above and include a closing trigger 2052 and a pivoting closing system 2060. The pivoting closing system may include a pivotally coupled closing pivot 2062 to the locking bar 2064. In addition, another locking bar 2067 is hingedly coupled to the locking bar 2064. The locking bar 2067 can be configured for pivoting attachment to the arms 2261 of the pipe clamping jaw 2260 by means of a 2269 pin. See Figure 66.

[00300] Figures 68 to 74 illustrate another arrangement for coupling an interchangeable rod assembly! 2500 to a frame 2380. Frame 2380 may be employed with cable as described herein, or may be employed in conjunction with a robotic system. In at least one form, stem assembly 2500 includes a stem 2510 which may include all other stem components 1210 described above and may have an end actuator (not shown) of the type described operably attached thereto. The various constructs and operations of these features are described above. As can be seen from Figures 68 to 74, the rod assembly 2500 includes a rod clamping module or a rod clamping portion 2520 which is configured to pivotably engage a frame clamping module portion 2384. 2380, as will be discussed in more detail below. The rod clamping module 2520, for example, may have a ring portion 2522 through which the proximal end of the rod 2510 extends. The rod clamping module 2520 cooperates with a frame clamping module portion 2384 of the frame 2380 to form a passageway 2581 on which a locking tube clamping jaw 2560 will be movably supported. The clamping jaw assembly The closure tube assembly 2560 may be supported on a portion of the stem clamping module 2520 and is configured to be supported within the passageway 2581 so that the closure tube clamp assembly 2560 may move axially therein in the directions distal and proximal. As with the rod assemblies described above, the proximal end of the rod frame 2512 is pivotally coupled to the rod clamping module 2520 so that it can rotate relative thereto. The proximal end of the outer sleeve 2550 is pivotally coupled to the locking tube clamping jaw 2560 in the manner described above so that it can rotate in relation thereto. In various forms, a nozzle 2590 may be employed in the ways described above to rotate the rod 2510 about the rod axis SA-SA relative to the rod clamping module 2520.

As can also be seen from Figures 68 to 70, the proximal end 2577 of the intermediate firing rod 2572 protrudes proximally from the closing tube clamping jaw 2560 and has a rod clamping tab 2578 formed in the same. Trigger rod securing cradle 2413 formed at the distal end 2411 of longitudinally movable drive member 2410 is formed to allow trigger rod securing tab 2578 to be laterally pivotally loaded.

As can be seen from Figure 69, the frame clamping module portion 2384 has a pair of pivoting cradles 2385 formed thereon, which are adapted to receive the corresponding pivoting tabs 2529 formed on the rod clamping module 2520. When the tabs 2529 are supported within the pivot cradles 2385, the rod clamping module 2520 may be engaged in operable engagement with the frame clamping module 2384 as shown in Figure 70. In particular, the tabs 2529 may define a pivot shaft PA-PA that is substantially transverse to the drive shaft AA-AA. See Figure 73. The 2520 rod clamp module may have side projection locking pins 2591 configured to lock the corresponding lock pockets 2387 on frame clamp 2384. To begin the coupling process, the rod The intermediate firing device 2572 is operably engaged with the longitudinally movable drive member in a direction substantially transverse to the AA-AA drive shaft.

Once the 2520 rod clamping module has been locked into the frame clamping module 2384 as shown in Figures 72 and 73, the clinician can then couple the closing drive system (which may be similar to to the closing actuation systems described in the present invention) to the closing pipe clamping jaw 2560.

[00304] The various interchangeable stem arrangements described in the present invention represent vast improvements with respect to the prior arrangements of surgical instruments employing dedicated rods. For example, a stem arrangement may be used in multiple cable arrangements and / or with robotically controlled surgical systems. Coupling methods of stem arrangements also differ from previous stem arrangements employing bayonet-type fittings, and other structures that require the application of a rotary motion to the stem and / or cable or housing during the coupling process. Various exemplary descriptions of the coupling processes employed by the rod assemblies presented in the present invention include joining a portion of the interchangeable coupling rod assembly with a corresponding portion of a housing, cable and / or frame in a direction or orientation substantially transverse to an actuation axis. Such coupling processes are intended to encompass the isolated or combined movement of the rod assembly and housing, cable and / or frame during the coupling process. For example, one method may involve securely retaining the cable, housing and / or frame and moving the rod assembly in coupling engagement therewith. Another method may involve securely retaining the rod assembly and moving the coupling cable, housing and / or frame therewith. Another method may involve simultaneously moving the rod assembly and the cable, housing and / or frame together in coupling engagement. It will be appreciated that the coupling procedures employed to couple the various stem assembly arrangements described in the present invention may involve one or more (including all) of these variations.

Referring to Figures 75 to 80, they show a cable 2642 that may be substantially identical to cable 1042 described above, except that the frame fixing module or frame fixing portion 2684 of frame 2680 includes a locking assembly. 2690 to prevent inadvertent actuation of the closing drive system 1750. As can be seen from Figures 75 and 76, for example, a proximal locking slot segment 2692 is formed in the frame clamping module 2684, so that before from securing the interchangeable rod assembly 1900 'thereto, the corresponding locking tab 1066 on the locking bar 1764 is slidably received therein. Thus, when the 1764 locking bar is in this position, the clinician cannot operate the closing drive system. In other words, when the actuation tab 1766 is received in the proximal locking slot segment 2692, the physician is not able to actuate the closing trigger 1752. In various ways, only one proximal locking slot segment may be employed. 2692. In other forms, two proximal locking slot segments 2692 are provided so that each locking tab 1766 is received in a corresponding proximal locking slot segment 2692. In various forms, a locking spring 2695 may be employed to pull the hinged system 1760 so that when the locking trigger 1752 is in the off position, the locking bar 1764 is pulled to a position where at least one of the securing tabs 1766 is received in the proximal locking slot segment 2692.

As can be seen from Figures 77 and 78, locking assembly 2690 may also include a distal tab slot 2694 formed in the stem clamping module 1920 'and located so that when the clamping module rod 1920 'has been completely secured to frame 2680, distal tab slot 2694 opens into proximal lock slot segment 2692 as shown in Figures 77 and 78.

Operation of lock lock assembly 2690 can be understood from reference to Figures 76 to 80. Figure 76 illustrates the position of lock clamp 1764 when lock trigger 1752 is not activated. As can be seen in this Figure, when in this position, the locking tab 1766 is received within the proximal locking slot segment 2692. Thus, if the physician attempts to trigger the closing trigger 1752 when in this position (ie , before operably securing the interchangeable rod assembly 1900 'to the 2680 frame in operable engagement), he will not be able to activate the locking drive system 1750. Once the physician has secured the interchangeable rod assembly 1900' to 2684 so that it is fully seated and fully secured in operable engagement, the distal locking slot segment 2694 in the 1920 ”shank clamping module will open in the proximal locking slot segment 2692 as shown in Figures 77 and 78. As the 1920 'shank clamping module is inserted into operable engagement with the 2684 frame clamping module, claw arm 19 61, which projects in the near sense! from the lock tube clamping jaw 1960, it will capture the locking tab 1766 in the downwardly opening slot 1963 and drive it to the bottom of the proximal locking slot 2692, as shown in Figure 79. After that, when the If the doctor wishes to operate the closing drive system 1750 by actuating the closing trigger 1752, the articulated closing system 1760 will be actuated in the distal direction "D". As the locking bar 1764 is distally advanced, the locking tab 1766 may advance distally into the distal locking slot 2694 by the distance necessary, for example, to cause the anvil to close or the actuation motion to be applied. corresponding to the end actuator operably coupled to the end actuator rod assembly 1900 '. Figure 80 illustrates the position of the 1764 locking bar with the 1750 closing drive system fully activated, for example when the closing trigger 1752 is fully depressed.

Figures 81 to 85 illustrate another locking assembly 2690 'to prevent inadvertent actuation of the closing drive system 1750 until the interchangeable rod assembly 1900' has been operably engaged with frame 2680. At least one form, a locking shoulder 2696 is formed in the frame clamping module or frame clamping portion 2684 'such that when the interchangeable rod assembly 1900' has not been coupled operably with the frame 2680, the 1764 locking bar is prevented from moving in the "D" distal direction by the shoulder 2696. See Figure 81. As the 1920 'shank securing module is inserted into operable engagement with the frame securing module 2684, clamp arm 1961 projecting proximally from lock tube clamp 1960 will capture clamp 1766 on lock clamp bar. 1764 and will move the locking bar 1764 to the "unlocked" position shown in Figures 82 and 83. As can be seen particularly in Figure 82, when in the unlocked position, the locking bar 1764 is located below the shoulder 2696 on frame mounting module 2684 '. When the locking bar is in the unlocked position, it can be advanced distally when the 1750 locking drive system is activated by depressing the 1752 trigger.

Figures 86 to 91 illustrate another interchangeable rod assembly 1900 ”and cable 2642 employing a locking assembly 2700 to prevent inadvertent actuation of the 1750” locking drive system. As can be seen from Figures 88 and 89, a locking assembly form 2700 includes an actuating sliding member 2720, which is slidably engaged in a distal extending locking base 2710 formed in the frame retaining module. or the frame retaining portion 2684 ”. In particular, in at least one form, the actuating sliding member 2720 has two laterally projecting sliding ears 2722 and are received in the corresponding slots 2712 formed in the locking base 2710. See Figure 86. The actuating sliding element 2720 is coupled. pivotably to the 1764 ”locking bar of the 1750” closing drive system and has a 2724 actuator pocket formed thereon that is adapted to receive a downwardly projecting actuator ear 2702 on the locking tube clamping jaw 1960 '. As with the closure clamp clamp 1960 described above, the closure clamp clamp 1960 'is rotatably attached to the outer sleeve 1950 in the various ways described in the present invention and is axially movable within the clamp. 1920 'shank clamping module.

As can be seen from Figures 88 to 89, the locking assembly 2700 may also include a movable locking element 2730 received in a cavity 2714 formed in the locking base 2710. The locking element 2730 has a portion 2732 sized to extend into the actuator pocket 2724, so that when in the "locked" position, the locking member 2730 prevents the distal movement of the sliding actuator 2720 from the locking base 2710. How more particularly can be seen from Figure 89, a locking spring 2734 is provided in the cavity 2714 to pull the locking element 2730 to the locked position.

[00311] Figure 89 illustrates locking assembly 2700 in the locked position. When in this position, the locking portion 2732 is located in the actuator pocket 2724 and thus prevents distal movement of the actuator sliding element 2720. Thus, if the physician attempts to actuate the 1750 ”closing actuation system by depressing the trigger. 1752, the locking portion 2732 will prevent the slide element 2720 from advancing. Figure 90 illustrates the position of the locking element 2730 after the actuator ear 2702 in the lock tube clamp 1960 'has been inserted into the actuator pocket. 2724 and have pulled the locking element 2370 to the "unlocked" position at the bottom of the cavity 2714 where the actuating sliding element 2720 may be advanced distally. Fig. 91 illustrates the position of the actuating sliding member 2720 after the closing trigger 1752 is fully depressed to thereby axially advance the closing tube clamping jaw 1960 'and the outer sleeve 1950 attached thereto.

Figures 92 to 98 illustrate another interchangeable rod assembly 1900 ”and cable 2642” that employs a lock assembly 2800 to prevent inadvertent actuation of the 1750 ”locking drive system. The 1750 ”locking drive system may be similar to the 1050 and 1750 locking drive systems described above and includes a 1752 locking trigger and a 1760 articulated locking system. The 1760 'articulated locking system may include a locking articulation. 1762 'pivotally coupled to the locking bar 1764. In addition, an actuating sliding member 2720 may be pivotably attached to the locking bar 1764 and may also be slidably fitted to a distal extension locking base. 2710 ', formed in frame mounting module 2684 ”. In particular, in at least one form, the actuating sliding member 2720 has two laterally projecting sliding ears 2722 and are received in the corresponding slots 2712 formed in the locking base 2710. See Figure 92. The actuating sliding element 2720 is coupled. pivotably to locking bar 1764 of the 1750 ”locking system and has an actuator pocket 2724 formed thereon that is adapted to receive a downwardly projecting actuator ear 2702 in the locking tube clamping 1960 '. As with the closure clamp clamp 1960 described above, the closure clamp clamp 1960 'is rotatably attached to the outer sleeve 1950 in the various ways described in the present invention and is axially movable within the clamp. 1920 ”shank clamping module.

In various forms, the locking assembly 2800 may also include a movable locking bar or locking element 2802 pivotally attached to the frame fixing module 2684 ”. For example, the locking bar 2802 may be pivotably mounted to a laterally protruding pin 2804 in the frame clamping module 2684 ”. The locking bar 2802 may further have a locking pin 2806 that protrudes from a proximal portion thereof and is configured to extend into a locking slot 2808 provided at the closing hinge 1762 'when the system 1750 ”closing drive is not activated. See Figure 94. Locking pin 2806 may extend through a locking slot 2812 which is provided in a side plate 2810 attached to frame 2680 '. Locking slot 2812 may serve to guide locking pin 2806 between locked and unlocked positions (Figures 92 to 94) (Figures 95 to 98).

When the locking assembly is in the locked position, locking pin 2806 is received in locking slot 2808 at closing hinge 1762 '. When in this position, the locking pin prevents movement of the hinged locking system 1760 '. Thus, if the clinician attempts to operate the 1750 ”locking drive system by depressing the locking trigger 1752, locking pin 2806 will prevent movement of the locking joint 1762 and ultimately will prevent the slide element 2720 from advancing. Figures 95 to 98 illustrate the position of the locking bar 2602 after the 1920 ”shank clamping module has been engaged in engagement with the 2684” frame clamping module. When in this position, a lock release portion 2820 on frame retainer 2684 ”contacts locking bar 2802 and pivots to thereby move locking pin 2806 out of lock slot. locking 2808 on closing hinge 1762 '. Also as can be seen from Figures 97 and 98, when the 1920 ”shank clamping module has been coupled in operable engagement with the 2684” frame clamping module, the actuator ear 2702 in the closing tube clamp 1960 'is seated in actuator pocket 2724 on actuator sliding element 2720. Figure 98 illustrates the position of actuator sliding element 2720 after the closing trigger 1752 is fully depressed to thereby axially advance the closing tube retaining clamp 1960 'and the outer sleeve 1950 fixed to it in the distal direction "D".

Referring now to Figures 99 to 101, a rod locking assembly 2900 is shown which is configured to prevent axial movement of the firing element 1270 unless the interchangeable rod assembly has been coupled in operable engagement with the rod. surgical instrument. More particularly, the stem locking assembly 2900 may prevent axial movement of the firing element 1270, except if the firing element has been engaged in operable engagement with the longitudinally movable driving element 1110 (the longitudinally movable driving element 1110 may be seen in Figure 88). In at least one form, the stem locking assembly 2900 may comprise a locking member or a stem locking plate 2902 which has a stem clearance hole 2904 in its midst and is supported by a frame or module portion 1920 ”shank attachment, allowing sliding travel in" LD "directions virtually transverse to SA-SA shank shaft. See Figure 99. The rod locking plate 2902 may, for example, move from a locked position shown in Figure 100, wherein the rod locking plate 2902 extends within the recessed area 1279 between the locking tab. 1278 and the proximal end 1277 of the intermediate portion of the firing rod 1272. When in a locked position, the rod locking plate 2902 prevents any axial movement of the intermediate portion of the firing rod 1272. The rod locking plate 2902 may be pulled in the locked position by a 2906 locking spring or other traction arrangement. Note that Figure 99 illustrates locking plate 2902 in an unlocked configuration for clarity. When the interchangeable rod assembly is not attached to a surgical instrument, the locking plate 2902 is pulled to the locked position as shown in Figure 100. It will be understood that such arrangement prevents inadvertent axial movement of the firing element 1270 when the locking assembly interchangeable rod is not operably attached to the surgical instrument (eg hand instrument, robotic system, etc.).

As discussed in detail above, during coupling of the interchangeable rod assembly to the surgical instrument, the locking tab 1278 at the end of the intermediate portion of the firing rod 1272 enters a cradle 1113 at the distal end of the longitudinally movable drive member. 1110. See Figure 88. As retaining tab 1278 enters cradle 1113, the distal end of the longitudinally movable drive member 1110 contacts rod locking plate 2902 and moves it to the unlocked position ( Fig. 101), wherein the distal end of the longitudinally movable drive member 1110 and the proximal end 1277 of the intermediate portion of the firing rod 1272 may move axially within the rod clearance hole 2904 in response to applied actuating motions. to the longitudinally movable drive member 1110.

Turning to Figures 102 to 112, a surgical instrument such as surgical instrument 10000 and / or any other surgical instrument such as surgical instrument system 1000, for example may comprise a rod 10010 and an end actuator 10020, wherein the end actuator 10020 may be pivoted relative to the stem 10010. In addition to the foregoing, the surgical instrument 10000 may comprise a stem assembly comprising the stem 10010 and the end actuator 10020, wherein the stem assembly may be removably attached to a cable of the surgical instrument 10000. Referring to Figures 102 to 104 primarily, the stem 10010 may comprise a stem structure 10012, and the end actuator 10020 may comprise an end actuator structure 10022, wherein the end actuator frame 10022 may be rotatably coupled to the rod frame 10012 about a pivot joint 10090. With With respect to pivot joint 10090, in at least one example, rod structure 10012 may comprise a pivot pin 10014 which may be received within a pivot opening 10024 defined in end actuator structure 10022. The end 10022 may additionally comprise a drive pin 10021 extending therefrom and may be operably engaged with a pivot drive. Drive pin 10021 can be configured to receive a force applied to it and, depending on the direction in which force is applied to steering pin 10021, rotate end actuator 10020 in a first direction or a second opposite direction. More particularly, when a force is applied to the drive pin 10021 in the distal direction by the pivot drive, the pivot driver may push the drive pin 10021 around the pivot pin 10014 and similarly when a force is applied to the pivot. drive pin 10021 in the proximal direction by the pivot drive, the pivot drive can pull drive pin 10021 around pivot pin 10014 in the opposite direction, for example. As the drive pin 10021 should be placed on the opposite side of the pivot joint 10090, for example, the distal and proximal movements of the pivot driver would have an opposite effect on the end actuator 10020.

In addition to what has been said, again with reference to Figures 102 to 104, the surgical instrument 10000 may comprise a joint drive system including a proximal joint drive 10030 and a distal joint driver 10040. When a driving force is transmitted to the proximal pivot actuator 10030 either in the proximal or distal direction, the driving force can be transmitted to the distal pivot actuator 10040 by means of a 10050 pivot lock as described in more detail below. In various circumstances, in addition to the above, a triggering element 10060 of the surgical instrument 10000 may be used to impart this driving force to the proximal pivot driver 10040. For example, with reference primarily to Figures 102 to 112, the surgical instrument 10000 may comprise a clutch system 10070 which may be configured to selectively connect proximal pivot actuator 10030 to trigger element 10060 so that movement of trigger element 10060 may be transmitted to proximal pivot actuator 10030. In use , the clutch system 10070 may be movable between a engaged state (Figures 102 to 108 and 111), wherein the proximal pivot driver 10030 is operably engaged with the triggering element 10060, and a disengaged state (Figures 109 110 and 112), wherein the proximal pivot driver 10030 is not operably engaged with the triggering element 10060. E Under various circumstances, clutch system 10070 may comprise a coupling member 10072 which may be configured to directly connect proximal pivot driver 10030 to trigger element 10060. Coupling element 10072 may comprise at least one drive tooth 10073 which may be received in a drive recess 10062 defined in trigger element 10060 when the clutch system 10070 is in engaged state. In certain circumstances, with reference mainly to Figures 28 and 31, the engaging member 10072 may comprise a first drive tooth 10073 extending to one side of the proximal pivot drive 10030 and a second drive tooth 10073 extending to one side. extends to the other side of the proximal pivot driver 10030 to engage drive recess 10062 defined in trigger element 10060.

In addition to what has been said, with reference again to Figures 102 to 112, the clutch system 10070 may additionally comprise an actuator member 10074, which may be configured to rotate or pivot the engaging member 10072 about a pivot pin. 10071 mounted to a proximal end 10039 (Fig. 104A) of the proximal pivot driver 10030. Actuator element 10074 may comprise a first outer protrusion or protrusion 10076 and a second protrusion or internal protrusion 10077 between which a recess 10078, configured to receive a control arm 10079 defined in the coupling element 10072. When the actuator element 10074 is rotated out of the firing element 10060, i.e., in the opposite direction of the longitudinal axis of the rod 10010, the inner protrusion 10077 may contact the control arm 10079 of the coupling element 10072 and rotate the coupling element 10072 in the opposite direction from it. 10060 so as to move the drive tooth 10073 out of the drive notch 10062 and as a result disengage the engaging member 10072 from the firing member 10060. At the same time, the engaging member 10072 can also be disengaged from the drive. proximal pivot driver 10030. In at least one case, the proximal pivot driver 10030 may comprise a drive notch 10035 defined thereon which may also be configured to receive a portion of the drive teeth 10073 when the engaging member 10072 is engaged. In a engaged position, similar to the above, the pivoting teeth 10073 may be removed from the drive notch when the engaging member 10072 is moved to the disengaged position. In other particular circumstances, with reference to Fig. 108 primarily, the drive teeth 10073 may define a recess 10083 therebetween which may be received in the drive notch 10035. In both cases, in a certain way, the engaging member 10072 can be configured to simultaneously engage the drive notch 10035 in the proximal pivot driver 10030 and the drive notch 10062 in the trigger element 10060 when the coupling element 10072 is in its engaged position and two be simultaneously disengaged from drive groove 10035 and drive groove 10062 when the engaging member 10072 is moved to its disengaged position. Continuing to refer to Figures 102 to 104, actuator member 10074 may be pivotally mounted or pivotally mounted in a housing that at least partially surrounds stem 10010 by means of a pivot pin 10075. In some circumstances pivot pin 10075 may be be mounted on the cable frame 10001, and / or a cable compartment surrounding the cable frame 10001, such as a cable compartment including portions 11002 and 11003, as illustrated in Figure 131, for example. The surgical instrument 10000 may additionally comprise a torsion spring 10080 which at least sparingly surrounds said pivoting pin 10075 which may be configured to apply a rotary traction to the actuator element 10074 so as to pull actuator 10074 and coupling member 10072 towards trigger element 10060 and pull coupling element 10072 to its engaged position. For this purpose, the outer protrusion 10076 of the actuator element 10074 may contact the control arm 10079 of the coupling element 10072 and pivot the coupling element 10072 inwards around the pivoting pin 10071.

Comparing Figures 108 and 109, in addition to the above, the reader will notice that the clutch system 10070 has been removed between its engaged state (Figure 108) and its disengaged state (Figure 109). A similar comparison can be made between Figures 111 and 112, whereby the reader will understand that a 10015 rod lock tube 10015 has been advanced from a proximal position (Figure 111) to a distal position (Figure 112) to move a clutch system 10070 between its engaged state (Figure 111) and its disengaged state (Figure 112). More particularly, actuator member 10074 may include a cam follower portion 10081, which may be in contact with closure tube 10015, and be moved to its disengaged position when closure tube 10015 is distally advanced to close the anvil, for example, end actuator 10020. The interaction of a closure tube with an anvil is discussed elsewhere in the present application and is not repeated for brevity now. In various circumstances, with reference mainly to Fig. 107, the meat follower portion 10081 of actuator element 10074 may be positioned within a window 10016 defined in the closure tube 10015. When the clutch system 10070 is engaged, edge, or sidewall, 10017 of window 10016 may contact meat follower portion 10081 and revolve actuator member 10074 around pivoting pin 10075. In effect, sidewall 10017 of window 10016 may act as a flesh. as the closing tube 10015 is moved to its distal or closed position. In at least one circumstance, actuator member 10074 may comprise a stop extending therefrom which may be configured to engage a cable compartment, for example, and limit the displacement of actuator member 10074. In certain circumstances, the rod assembly may include a spring positioned midway from the rod assembly housing and a protrusion 10082 extending from actuator member 10074 which may be configured to pull actuator member 10074 to its engaged position. In the closed, distal position of the closure tube 10015, discussed above, the closure tube 10015 may remain positioned below the meat follower portion 10081 to sustain the clutch system 10070 in its disengaged state. In such disengaged state, movement of trigger element 10060 is not transferred to proximal pivot actuator 10030 and / or any other portion of the pivot actuator system. When the closure tube 10015 is retracted in its proximal or open position, the closure tube 10015 may be removed from the underside of the meat follower portion 10081 of actuator member 10074, so that spring 10080 can pull actuator element 10074. back into the window 10016 and allow the clutch system 10070 to re-enter its engaged state.

When the proximal pivot actuator 10030 is operably engaged with the trigger element 10060 by means of the clutch system 10070, in addition to the foregoing, the trigger element 10060 may move the proximal pivot actuator 10030 in direction. proximal and / or distal. For example, proximal movement of trigger member 10060 may move proximal pivot driver 10030 proximally and, similarly, distal movement of trigger element 10060 may move proximal pivot driver 10030 distally. Referring primarily to Figures 102 to 104, movement of the proximal pivot actuator 10030, either proximal or distal, can unlock the pivot lock 10050 as described in more detail below. Referring primarily to Fig. 102, the pivot lock 10050 may comprise a coextensive frame with a frame 10042 of the distal pivot driver 10040. Collectively, the pivot lock frame 10050 and the frame 10042 may be referred to as frame assembly in the present. 10042. Structure 10042 may comprise a first locking distal cavity or cavity 10044 and a second locking proximal cavity 10046 defined therein, wherein the first locking cavity 10044 and the second locking cavity 10046 may be be separated by an intermediate frame member 10045. Hinge lock 10050 may further include at least a first locking member 10054 at least partially positioned within the first locking cavity 10044 which may be configured to inhibit or prevent movement distal joint driver 10040. With respect In the particular embodiment illustrated in Figures 102 to 104, there are three first locking elements 10054 positioned within the first locking cavity 10044, which may all act similarly in parallel and may cooperatively act as a single locking element. Other embodiments are designed which may use more than three or less than the first three locking elements 10054. Similarly, the pivot lock 10050 may further include at least a second locking element 10056 at least partially positioned within a second locking cavity 10046, which may be configured to inhibit or prevent distal movement of the distal pivot actuator 10040. With respect to the particular embodiment illustrated in Figures 102 to 104, there are three second locking elements 10056 positioned within the second cavity 10046, which can all act similarly in parallel, and can act cooperatively as a single locking element. Other embodiments are designed which may use more than three or less than three second locking elements 10056.

In addition to what has been said, with reference primarily to Figure 104A, each first locking member 10054 may comprise a locking opening 10052 and a locking tab 10053. The locking tab 10053 may be disposed within the first locking cavity. 10044, and the locking aperture 10052 may be slidably engaged with a frame rail 10011, mounted to the rod frame 10012. Again with reference to Figure 102, the frame rail 10011 extends through the openings 10052 in the first locking elements 10054. As the reader will observe, still with reference to Fig. 102, the first locking elements 10054 are not oriented in an arrangement perpendicular to the frame rail 10011; instead, the first locking members 10054 are arranged and aligned at a non-perpendicular angle with respect to the frame rail 10011, so that the edges or side walls of the locking openings 10052 are engaged with the frame rail 10011. In addition , the interaction between the sidewalls of the locking openings 10052 and the frame rail 10011 can create a drag or frictional force between them, which can inhibit relative movement between the first locking elements 10054 and the frame rail 10011. and, as a result, oppose a proximal compression force P applied to the distal pivot actuator 10040. In other words, the first locking elements 10054 may prevent or at least inhibit rotation of the end actuator 10020 in the direction indicated. arrow 10002. If torque is applied to end actuator 10020 in the direction of arrow 10002, A proximal compressive force P is taken from the drive pin 10021 extending from the end actuator frame 10022 to the distal pivot actuator frame 10042. In various circumstances, the drive pin 10021 may be received without play. in a pin slot 10043 defined at the distal end 10041 of the distal pivot actuator 10040, so that the drive pin 10021 can rest against a proximal side wall of the pin slot 10043 and transmit the proximal compression force P to the In addition, however, the proximal tensile force P will only serve to cushion the locking engagement between the first locking members 10054 and the frame rail 10011. More particularly, the proximal compression force P may be transmitted to the tabs 10053 of the first locking elements 10054, which may cause the first and locking elements 10054 rotate and decrease the angle defined between the first locking elements 10054 and the frame rail 10011 and, as a result, increase the tightness between the sidewalls of the locking openings 10052 and the frame rail 10011. Finally, then, the first locking elements 10054 may lock the movement of the distal pivot actuator 10040 in one direction.

In order to release the first locking elements 10054 and allow the end actuator 10020 to be rotated in the direction indicated by arrow 10002, now with reference to Figure 103, the proximal pivot actuator 10030 can be pulled proximally to straighten, or at least substantially straighten, the first locking members 10054 in a perpendicular or at least substantially perpendicular position. In this position, the clamping, or resistive force, between the sidewalls of the locking openings 10052 and the frame rail 10011 can be sufficiently reduced, or eliminated, so that the distal pivot driver 10040 can be moved proximally. In order to straighten the first locking members 10054 in the position shown in Figure 103, the proximal pivot actuator 10030 can be pulled proximally so that a distal arm 10034 of the proximal pivot actuator 10030 contacts the first locking elements 10054 for pulling. and rotating the first locking elements 10054 to their straightened position. Under various circumstances, the proximal pivot driver 10030 may continue to be pulled proximally until a proximal arm 10036 extending therefrom contacts or abuts a proximal drive wall 10052 of frame 10042 and pulls the frame 10042 proximally to pivot end actuator 10002. Essentially, a proximal tensile force can be applied from proximal pivot driver 10030 to distal pivot driver 10040 through interaction between the proximal arm 10036 and the drive wall 10052, wherein such tensile force can be transmitted via frame 10042 to drive pin 10021 to pivot end actuator 10020 in the direction indicated by arrow 10002. After end actuator 10020 has been properly hinged in the direction of arrow 10002, the proximal hinge driver 10040 can be released, in v circumstances, to allow the pivot lock 10050 to re-lock the distal pivot member 10040 and the end actuator 10020 in position. In various circumstances, pivot lock 10050 may comprise a spring 10055 positioned midway between the first locking member group 10054 and the second locking member group 10056, which may be compressed when the first locking members 10054 are straightened. to unlock the proximal movement of the distal pivot actuator 10040 as discussed above. When the proximal pivot driver 10030 is released, the spring 10055 may resiliently expand to press the first locking elements 10054 to their oblique positions, illustrated in Figure 102.

Simultaneously to the above, again with reference to Figures 102 and 103, the second locking elements 10056 may remain in an oblique position while the first locking elements 10054 are locked and unlocked as described above. The reader will understand that although the second locking elements 10056 are disposed and aligned obliquely with respect to the rod rail 10011, the second locking elements 10056 are not configured to prevent, or at least largely prevent, the proximal movement of the distal pivot driver 10040. When the distal pivot driver 10040 and pivot lock 10050 are slid proximally as described above, the second locking elements 10056 may run distally along the frame rail 10011 without, various circumstances, alter, or at least not substantially alter, their oblique alignment with respect to the frame rail 10011. Although the second locking elements 10056 allow proximal movement of the distal pivot actuator 10040 and the pivot lock 10050, the second elements 10056 can be configured to prevent or at least selectively displace the distal movement of the distal pivot actuator 10040, as discussed in more detail below.

Similar to the above, with reference mainly to Figure 104A, each second locking member 10056 may comprise a locking opening 10057 and a locking tab 10058. The locking tab 10058 may be disposed within the second cavity. 10046, and the locking aperture 10057 may be slidably engaged with the frame rail 10011 mounted on the stem frame 10012. Again with reference to Figure 102, the frame rail 10011 extends through the openings 10057 in the second members. As the reader will observe, still with reference to Fig. 102, the second locking elements 10056 are not oriented in a perpendicular arrangement with the frame rail 10011; instead, the second locking members 10056 are arranged and aligned at a non-perpendicular angle with respect to the frame rail 10011, so that the edges or side walls of the locking openings 10057 are engaged with the frame rail 10011. In addition , the interaction between the sidewalls of the locking openings 10057 and the frame rail 10011 may create a resisting or frictional force thereof which may inhibit relative movement between the second locking elements 10056 and the frame rail 10011 and as a result resist a distal force D applied to the distal pivot actuator 10040. In other words, the second locking elements 10056 may prevent, or at least inhibit, rotation of the end actuator 10020 in the direction indicated by arrow 10003. If torque is applied to end actuator 10020 in the direction of arrow 10003, a pull force will be transmitted. Distal D from drive pin 10021 extending from end actuator frame 10022 to frame 10042 of distal pivot driver 10040. In many circumstances, drive pin 10021 may be received without play in a pin slot. 10043 is defined at the distal end 10041 of the distal pivot driver 10040, so that the drive pin 10021 can rest against a distal sidewall of the pin slot 10043 and transmit the distal tractive force D to the distal pivot driver 10040. In addition, however, the distal tractive force D will only serve to cushion the locking engagement between the second locking elements 10056 and the frame rail 10011. More particularly, the distal tractive force D may be transmitted to the tabs 10058 of the second locking elements 10056, which may cause the second locking elements 10056 to rotate and decrease the angle of between the second locking members 10056 and the frame rail 10011 and, as a result, increase the tightness between the side walls of the locking openings 10057 and the frame rail 10011. Finally, then the second locking elements 10056 can lock movement of distal pivot drive 10040 in one direction.

In order to release the second locking elements 10056 and allow the end actuator 10020 to be rotated in the direction indicated by arrow 10003, now with reference to Figure 104, the proximal pivot actuator 10030 can be pulled distally to straighten, or at least substantially straighten, the second locking members 10056 in a perpendicular or at least substantially perpendicular position. In this position, the clamping, or resistive force, between the sidewalls of the locking openings 10057 and the frame rail 10011 can be sufficiently reduced, or eliminated, so that the distal pivot actuator 10040 can be moved distally. In order to straighten the second locking members 10056 in the position shown in Figure 104, the proximal pivot actuator 10030 can be pushed distally so that the proximal arm 10036 of the proximal pivot actuator 10030 contacts and pushes the second locking element 10056. rotate the second locking elements 10056 in their straightened position. Under various circumstances, the proximal pivot driver 10030 may continue to be pulled proximally until a proximal arm 10034 extending therefrom contacts or adjoins a distal drive wall 10051 of the frame 10042 and pulls the frame 10042 proximally to pivot the end actuator 10020. Essentially, a distal compressive force can be applied from the proximal joint driver 10030 to the distal joint driver 10040 through the interaction between the distal arm 10034 and the distal drive 10051, wherein such a compressive force can be transmitted via frame 10042 to drive pin 10021 to pivot end actuator 10020 in the direction indicated by arrow 10003. After end actuator 10020 has been properly hinged in the direction of arrow 10003, the proximal hinge driver 10040 can be released, in v holiday circumstances, to allow the articulation lock 10050 relock the hinge element and the distal end 10040 10020 actuator in position. In various circumstances, similar to the above, the spring 10055 positioned midway between the group of first locking elements 10054 and the group of second locking elements 10056 may be compressed when the second locking elements 10056 are straightened to unlock. the distal movement of the distal articulation driver 10040, as discussed above. When the proximal pivot driver 10040 is released, the spring 10055 may resiliently expand to press the second locking members 10056 to their oblique positions, illustrated in Figure 102.

Simultaneously to the above, once again with reference to Figures 102 and 104, the first locking elements 10054 may remain in an oblique position while the second locking elements 10056 are locked and unlocked as described above. The reader will understand that although the first locking elements 10054 are disposed and aligned obliquely with respect to the rod rail 10011, the first locking elements 10054 are not configured to prevent, or at least largely prevent, distal movement of the distal pivot driver 10040. When the distal pivot driver 10040 and pivot lock 10050 are slid distally as described above, the first locking elements 10054 can run distally along the frame rail 10011 without, vary, or at least without substantially altering, its oblique alignment with respect to the frame rail 10011. Although the first locking elements 10054 allow the distal movement of the distal pivot driver 10040 and the pivot lock 10050, the first elements 10054 are configured to prevent or at least initiate also, selectively the proximal movement of the distal pivot actuator 10040, as discussed below.

In view of this, the pivot lock 10050 in locked condition can be configured to oppose the proximal and distal movements of the distal pivot driver 10040. In terms of strength, the pivot lock 10050 can be configured to prevent, or at least substantially prevent, the proximal and distal movements of the distal pivot actuator 10040. Coactively, the proximal movement of the distal pivot actuator 10040 is blocked by the first locking elements 10054 when the first locking elements 10054 are engaged. its locked orientation, and the distal movement of the distal pivot actuator 10040 is blocked by the second locking elements 10056 when the second locking elements 10056 are in their locked orientation as described above. In other words, the first locking members 10054 comprise a first unidirectional lock, and the second locking elements 10056 comprise a second unidirectional lock which lock in opposite directions.

When the first locking elements 10054 are in a locked configuration, again with reference to Fig. 102 and as discussed above, an attempt to move the distal pivot driver 10040 proximally may only serve to further decrease the angle between the first elements. 10054 and the frame rail 10011. In various circumstances, the first locking elements 10054 may bend, in at least some circumstances, the first locking elements 10054 may be contiguous with a distal shoulder 10047 defined in the first more precisely, the first outer locking member 10054 may be contiguous with the distal shoulder 10047, while the other first locking elements 10054 may be contiguous with an adjacent first locking member 10054. In some circumstances, the distal shoulder 10047 may stop the movement. that of the first locking elements 10054. In certain circumstances, the distal shoulder 10047 may provide stress relief. For example, with the shoulder distal! 10047 in contact with the first locking members 10054, the distal shoulder 10047 may support the first locking elements 10054 in a location adjacent to, or at least substantially adjacent to, the locking rail 10011, so that only a small lever arm , or torque arm, separate the opposing forces transmitted to the first locking elements 10054 at their different locations. In these circumstances, in effect, the forces transmitted by the wings 10053 of the first locking elements 10054 can be reduced or eliminated.

Similar to the above, when the second locking elements 10056 are in a locked configuration, again with reference to Fig. 102 and as discussed above, an attempt to move distal pivot driver 10040 may only serve to decrease plus the angle between the second locking members 10056 and the frame rail 10011. In various circumstances, the second locking elements 10056 may flex, in at least some circumstances, the second locking elements 10056 may be contiguous to each other. a proximal shoulder 10048 defined in the second locking cavity 10046. More precisely, the second outer locking member 10056 may be contiguous with the proximal shoulder 10048, while the other second locking elements 10056 may be contiguous with a second adjacent locking member 10056. In some circumstances, the shoulder should be 10048 may stop the movement of the second locking members 10056. In certain circumstances, the proximal shoulder 10048 may provide stress relief. For example, with the proximal shoulder 10048 in contact with the second locking members 10056, the proximal shoulder 10048 may support the second locking elements 10056 in a location adjacent to, or at least substantially adjacent to, the locking rail 10011. that only a small lever arm, or torque arm, separates the opposing forces transmitted via the second locking elements 10056 at their different locations. In those circumstances, in effect, the force transmitted by the tabs 10058 of the second locking elements 10056 can be reduced or eliminated.

Discussed in conjunction with the exemplary embodiment illustrated in Figures 102 to 112, an initial proximal movement of the proximal pivot driver 10030 may unlock the proximal movement of the distal pivot driver 10040 and the pivot lock 10050, whereas a motion The additional proximal joint of the proximal pivot actuator 10030 can drive the distal pivot actuator 10040 and the proximal pivot lock 10050. Similarly, an initial distal movement of the proximal pivot driver 10030 may unlock the distal movement of the distal pivot driver 10040 and the pivot lock 10050, while further distal movement of the proximal pivot driver 10030 may drive distal joint 10040 and the joint lock 10050 distally. Such a general concept is discussed in conjunction with several exemplary embodiments presented below. To the extent that this discussion is repetitive, or generally cumulative, with reference to the discussion provided in conjunction with the exemplary embodiment presented in Figures 102 to 112, it is not reproduced for brevity.

Turning now to Figures 113 and 114, a surgical instrument, such as surgical instrument 10000, and / or any other surgical instrument system, for example, may comprise a proximal joint driver 10130, a distal joint driver 10140 and a pivot lock 10150. The pivot lock 10150 may comprise a frame 10152 including a lock slot or channel 10151 thereon configured to receive at least a portion of the proximal pivot driver 10130 and at least a portion of the distal pivot driver 10140. Hinge lock 10150 may further comprise a first locking member 10154 positioned within a first locking cavity or distal cavity 10144 and a second locking member 10155 positioned within a second cavity or proximal locking cavity 10146. Similarly to the above, the first element 10154 may be configured to block a proximal compression force P transmitted via the distal pivot driver 10140. For this purpose, the distal pivot driver 10140 may include a defined locking recess 10145, which may include a or more locking surfaces configured to engage the first locking element 10154 and prevent movement of the distal pivot driver 10140 relative to the locking structure 10152. More specifically, a side wall of the locking recess 10145 may comprise a first surface, or locking distal surface 10141 which can be configured to wedge the first locking element 10154 against the sidewall or locking wall 10153 of the locking rod 10151 and, thanks to this wedging relationship, the distal pivoting actuator 10140 not able to pass between the first trace element 10154 and the opposite side wall 10157 of the locking tab 10151. The reader will understand that the locking recess 10145 is designed so that it gradually decreases in depth towards the distal end of the locking recess 10145, while correspondingly , the distal pivot actuator 10140 gradually increases in thickness towards the distal end of the locking recess 10145. As a result, a proximal compression force P applied to the distal pivot actuator 10140 may serve only to further increase the strength, or bending force. wedging, holding the distal articulation actuator 10140 in position.

In order to pull the distal pivot actuator 10140 proximally, the proximal pivot actuator 10130 can be configured to one proximally displace the distal locking member 10154 in the proximal direction. and two, directly engaging the distal pivot actuator 10140 and applying a proximal tractive force to it. More specifically, in addition to the foregoing, the proximal pivot actuator 10130 may comprise a distal arm 10134, configured to initially engage the first locking element 10154, and a proximal arm 10136, which may then be engaged to engage a proximal drive wall 10147 defined at the proximal end of the locking recess 10145 and pull the distal pivot actuator 10140 proximally. Similar to the above, the proximal movement of the distal pivot actuator 10140 may be configured to pivot the end actuator of the surgical instrument. When the end actuator has been properly pivoted, the proximal pivot driver 10130 may be released under various circumstances to allow a spring 10155 positioned between the first locking element 10154 and the second locking element 10156 to expand and reposition. sufficiently lock the first locking member 10154 relative to the first locking surface 10141 and re-lock the distal pivot actuator 10140 and the end actuator in position.

Simultaneously to the above, the second locking element 10156 may not block, or at least substantially not block, the proximal movement of the distal pivot driver 10140. When the pivot lock 10150 is in the locked condition, the second locking element 10156 may be positioned between a second locking surface or proximal locking surface 10143 of locking recess 10145 and locking wall 10153 of locking channel 10151. As the distal pivot driver 10140 is pulled proximally by the actuator In addition to the above, a recess portion 10142 of the locking recess 10145 may move above the second locking element 10156. In various circumstances, the recess portion 10142 of the locking recess 10145 may comprise the deepest portion of the recess 10145, which may, as a result, allow for a relative sliding distance between the distal pivot driver 10140 and the second locking member 10156 as the distal pivot driver 10140 is pulled proximally.

In some circumstances, the second locking member 10156 may be configured to roll within the receding portion 10142, thereby reducing the resistive force between the distal pivot driver 10140 and the second locking element 10156. As the reader will understand, the second locking element 10156 may allow proximal movement of the distal pivot driver 10140, but may be configured to block the distal movement of the distal pivot driver 10140 as discussed in more detail below.

Similarly to the above, the second locking element 10156 may be configured to block a distal pulling force D transmitted via the distal pivoting element 10140. For this purpose, the second locking surface 10143 of the recess of 10145 can be configured to wedge the second locking element 10156 against the locking wall 10153 of the locking channel 10151 and, thanks to this wedging relationship, the distal pivot driver 10140 cannot pass between the second locking element 10156 and opposite side wall 10157 of the locking channel 10151. The reader will understand that the locking recess 10145 is designed so that it gradually decreases in depth proximal to the end of the locking recess 10145, while correspondingly the locking trigger distal joint 10140 gradually increases in thickness towards the proximal end of the locking recess 10145. As a result, a distal compression force D applied to the distal pivot actuator 10140 may serve only to further increase resistance, or wedge force, by holding the distal pivot actuator 10140 in position.

In order to pull the distal pivot actuator 10140 in a distal direction, the proximal pivot actuator 10130 can be configured to displace the second locking element 10156 distantly! to unlock the pivot lock 10150 in the distal direction and two directly engage the distal pivot drive 10140 and apply a proximal pulling force to it. More specifically, in addition to the foregoing, the proximal arm 10136 of the proximal pivot driver 10130 may be configured to initially engage the second locking element 10156, wherein the distal arm 10134 may then engage a distal drive wall. 10148 is defined at the distal end of the locking recess 10145 and push the distal pivot driver 10140 in the distal direction. Similar to the above, the distal movement of the distal pivot actuator 10140 may be configured to pivot the end actuator of the surgical instrument. When the end actuator has been properly pivoted, the proximal pivot driver 10130 may be released under various circumstances to allow a spring 10155 to sufficiently expand and reposition the second locking member 10156 relative to the second spring surface. 10143 to lock the distal pivot driver 10140 and the end actuator in position again.

Simultaneously to the above, the first locking element 10154 may not block, or at least not substantially block, the distal movement of the distal pivot actuator! 10140. When the pivot lock 10150 is in locked condition, the first locking element 10154 may be positioned between the first locking surface 10141 of the locking recess 10145 and the locking wall 10153 of the locking channel 10151 as discussed above. As the distal pivot driver 10140 is pulled distally by the proximal pivot driver 10130, in addition to the above, the recess portion 10142 of the locking recess 10145 may move above the first locking element 10154. In several In these circumstances, the receding portion 10142 may permit relative sliding movement between the distal pivot driver 10140 and the first locking member 10154 as the distal pivot driver 10140 is pushed distal. In some circumstances, the first locking element 10154 may be configured to roll within the receding portion 10142, thereby reducing the resistive force between the distal pivot driver 10140 and the first locking element 10154. As the reader will understand, first locking element 10154 may allow distal movement of distal pivot driver 10140, but may selectively block proximal movement of distal pivot driver 10140 as discussed above.

In addition to the above, the first locking surface 10141, the flat portion 10142 and the second locking surface 10143 of the locking recess 10145 may define a suitable design. Such a design may be defined by a first, a second and a third planar surface comprising the first locking surface 10141, the indentation 10142 and the second locking surface 10143, respectively. In such circumstances, boundary separations may be identified between the first locking surface 10141, indent 10142 and the second locking surface 10143. In various circumstances, the first locking surface 10141, indent 10142 and the second locking surface 10143 may comprise a continuous surface, such as an arcuate surface, for example, where there may be no boundary separations between the first locking surface 10141, the indentation 10142 and the second locking surface 10143.

Referring now to Figures 115 and 116, a surgical instrument such as surgical instrument 10000 and / or any other surgical instrument system, for example, may comprise a rod 10210, a pivot drive system comprising a trigger 10230, a distal pivot driver 10240 and a pivot lock 10250, configured to releasably hold the distal pivot driver 10240 in position. The overall operation of the pivot drive system is equal to or at least substantially the same as the pivot drive system discussed in conjunction with the embodiment shown in Figures 113 and 114 and, as a result, this discussion is not repeated in the present invention by reasons for brevity. As the reader will understand with reference to Figures 115 and 116, pivot lock 10250 may comprise a first locking element 10254, which may provide a unidirectional lock configured to releasably prevent proximal movement of distal pivot driver 10240, and a second locking member 10256, which may provide a second one-way lock, configured to releasably prevent distal movement of the distal pivot actuator 10240. Similarly to the above, the first locking element 10254 and the second locking element 10256 may be positioned within a locking recess 10245 defined in the distal pivot driver 10240 and may be pulled in locked condition by a traction element or spring 10255, for example. To unlock the first locking element 10254, similar to the above, the proximal pivot driver 10230 can be pushed proximally so that a distal hook 10234 contacts the first locking element 10254 and pulls the first element. locking device 10254 proximally. Thereafter, the proximal pivot actuator 10230 may continue to be pulled proximally until the distal hook 10234 contacts the structure of the distal pivot actuator 10242, pull the distal pivot actuator! 10240 proximally and pivot end actuator 10020, similar to the embodiments described above. In order to unlock the second locking member 10256, similar to the above, the proximal pivot driver 10230 may be pushed distally so that a proximal hook 10236 contacts the second locking member 10256 and pushes the second locking element 10256 distally. Thereafter, the proximal pivot driver 10230 may continue to be pushed distally until the proximal hook 10236 contacts the structure of the distal pivot driver 10242, push the distal pivot driver 10240 and pivot the actuator. end 10020 in the opposite direction, similar to the embodiments described above. In various circumstances, the first locking element 10254 and the second locking element 10256 may both comprise a spherical rotating element or bearing, for example, which may be configured to reduce sliding friction between the locking elements 10254, 10256, the rod structure 10212, the proximal pivot drive 10230 and / or the distal pivot drive 10240.

Turning now to Figures 125 and 130, a surgical instrument such as the surgical instrument 10000 and / or any other surgical instrument system, for example, may comprise a joint drive system comprising a proximal joint drive 10330. , a distal pivot actuator 10340 and a pivot lock 10350 configured to releasably hold the distal pivot actuator 10340 in position. In many ways, the operation generates! The joint drive system is equal to, or at least substantially the same as, the joint drive system discussed in conjunction with the embodiments set forth above and, as a result, these aspects are not repeated in the present invention for brevity. As the reader will understand, with reference primarily to Figures 125 and 126, pivot lock 10350 may comprise a first locking element 10354, which may provide a unidirectional lock configured to releasably impede the proximal movement of distal pivot driver 10340. and a second locking member 10356, which may provide a second one-way lock, configured to releasably prevent distal movement! Similar to the above, the first locking member 10354 may be positioned within a first locking or distal locking recess 10344, and the second locking member 10356 may be positioned inside a second or proximal locking recess 10346 defined in the distal pivot driver 10340; they can be pulled to the condition locked by a traction element or spring 10355, for example. To unlock the first locking member 10354, with reference generally to Figure 129, the proximal pivot driver 10330 may be pushed proximally so that a distal hook 10334 contacts the first locking member 10354 and pulls. the first locking element 10354 proximally. Thereafter, as illustrated in Figure 129, the proximal pivot driver 10330 may continue to be pushed proximally until the first locking member 10354 contacts an intermediate shoulder 10345 extending from a frame 10342 of the frame. of the pivot drive 10340 and pushes the distal pivot drive 10340 in the near direction! to articulate the end actuator, similar to the embodiments described above. When the end actuator has been sufficiently pivoted, the proximal pivot actuator 10330 may be released, which may allow the tension spring 10355 to retract locking elements 10354 and 10356 and seat locking elements 10354 and 10356 in the locked condition. As shown in Figure 130. In order to unlock the second locking member 10356, with reference generally to Figure 127, the proximal pivot driver 10330 can be pushed distally so that a proximal hook 10336 contacts each other. with the second locking member 10356 and push the second locking member 10356 distally. Thereafter, the pivot actuator 10330 may continue to be pushed distally until the second locking element 10356 contacts the middle shoulder 10345 of the distal pivot actuator frame 10342 and push the distal pivot actuator 10340 in the distal direction. to pivot the end actuator in the opposite direction, similar to the embodiments described above. When the end actuator has been sufficiently pivoted, similar to the above, the proximal pivot actuator 10330 may be released, which may allow the tension spring 10355 to retract the locking elements 10354 and 10356 and seat the locking elements. 10354 and 10356 in the locked condition, as shown in Figure 128.

In various circumstances, in addition to those set forth above, the first locking element 10354 and the second locking element 10356 may both comprise a wedge, for example, which may be configured to lock the distal pivot actuator 10340 in position. . Referring again primarily to Figures 125 and 126, pivot lock 10350 may comprise a frame 10352 including a locking channel 10351 defined thereon which may be configured to receive at least a portion of proximal pivot driver 10330 and at least a portion of the distal pivot driver 10340. The first locking cavity 10344, in addition to the above, may be defined between the distal pivot driver 10340 and a locking wall 10353 of the locking channel 10351. When a proximal load P is transmitted to the distal hinge driver 10340 from the end actuator, the distal hinge driver 10340 may engage a wedge portion 10358 of the first locking member 10354 and pull the first locking member 10354 against the locking wall 10353. In such circumstances , the proximal load P is only capable of increasing the wedge force q which holds the first locking member 10354 in position. Indeed, the first locking element 10354 may comprise a one-way lock that can prevent proximal movement of the distal pivot actuator 10340 until the first locking element 10354 is unlocked as described above. When the first locking member 10354 is unlocked, and the distal pivot driver 10340 is being moved proximally, the second locking element 10356 cannot block, or at least not substantially block, the proximal movement of the distal pivot driver 10340. Similarly to the above, the second locking cavity 10346, in addition to the above, may be defined between the distal pivot actuator 10340 and the locking wall 10353. When a load D is transmitted to the distal pivot actuator 10340 from of the end actuator, the distal pivot driver 10340 may engage a wedge portion 10359 of the second locking member 10356 and pull the second locking member 10356 against the locking wall 10353. In such circumstances, the distal load D is only capable of increasing the wedge force holding the second locking member 10356 in position. Indeed, the second locking element 10356 may comprise a one-way lock that may prevent movement of the distal pivot actuator 10340 until the second locking element 10356 is unlocked as described above. When the second locking member 10356 is unlocked, and the distal pivot driver 10340 is being moved distally, the first locking element 10354 cannot block, or at least not substantially block, the distal movement of the distal pivot driver 10340. .

Turning now to Figures 117 and 124, a surgical instrument, such as surgical instrument 10000 and / or any other surgical instrument system, for example, may comprise a pivot drive system comprising a proximal pivot drive 10430. , a distal pivot actuator 10440 and a pivot lock 10450 configured to releasably hold the distal pivot actuator 10440 in position. As the reader will understand, with reference primarily to Figures 117 and 118, pivot lock 10450 may comprise a first locking cam 10454, which may provide a unidirectional lock configured to releasably prevent distal movement of the distal pivot actuator 10440. , and a second locking cam 10456, which may provide a second unidirectional locking device configured to releasably prevent proximal movement of the distal pivot actuator 10440. The first locking cam 10454 may be rotatably mounted to the distal pivot actuator. 10440 and may include a protrusion 10457 rotatably positioned within a pivot opening 10447 defined in the distal pivot driver 10440. Similarly, the second locking cam 10456 may be rotatably mounted to the distal pivot driver 10440 and may include a pivot 10458 that is rotatably positioned n the interior of a pivot opening 10448 also defined in the distal pivot driver 10440. The pivot lock 10450 may further comprise a frame 10452 including a locking channel 10451 defined therein which may be configured to receive at least a portion of the proximal pivot driver 10430 and at least a portion of distal pivot driver 10440, first locking cam 10454 and second locking cam 10456. Locking channel 10451 may comprise a first locking wall 10453 and a second locking wall 10459 in it; when the pivot lock 10450 is in the locked state, the first locking cam 10454 may be pulled against the engagement with the first locking wall 10453, and the second locking cam 10456 may be pulled from the engagement with the second locking wall 10459. The first locking cam 10454 may be configured to pull the first bearing point 10445 of the distal pivot driver 10440 against the second locking wall 10459 when the first locking cam 10454 is in its locked position. Similarly, the second locking cam 10456 may be configured to pull a second bearing point 10446 of the distal pivot driver 10440 against the first locking wall 10453 when the second locking cam 10454 is in its locked position. This locked state is illustrated in Figure 119. Also illustrated in Figure 119, the pivot lock 10450 can be pulled in a locked state by a spring 10455. Spring 10455 can be configured to rotate the first locking cam 10454 around its projection. 10457 such that a shoulder of the first locking cam 10454 engages the first locking wall 10453 and similarly to rotate the second locking cam 10456 about its projection 10458 so that a shoulder of the second locking cam 10454 10456 engages the second locking wall 10459. In various circumstances, the first locking cam 10454 and the second locking cam 10456 may both comprise a spring aperture 10449 defined thereon which may be configured to receive an end. spring 10455 so that spring 10455 can apply the tensile forces discussed above.

In order to unlock the first locking cam 10454, with reference generally to Figure 120, the proximal pivot actuator 10430 can be pushed distally so that a distal pivot shoulder 10434 of the proximal pivot actuator 10430 between contact the first locking cam 10454 and push the first locking cam 10454 distally. In various circumstances, the first locking cam 10454 may comprise a drive pin 10437 extending therefrom and may receive contact from the distal drive shoulder 10434, so that as the proximal pivot drive 10430 is pushed towards it. distal, the first locking cam 10454 and the distal pivot drive 10440 may be slid distal to the first locking surface 10451. In some circumstances, the first locking cam 10454 may rotate about its projection 10447 so to accommodate such movement. In either case, similar to the above, the distal movement of the distal pivot actuator 10440 may be configured to pivot the end actuator. When the end actuator has been sufficiently pivoted, the proximal pivot actuator 10430 may be released, which may allow the tension spring 10455 to displace locking cams 10454 and 10456 when engaging locking surfaces 10453 and 10459, respectively. , and place the pivot lock 10450 in its locked condition as shown in Figure 119. In order to unlock the second locking cam 10456, with reference generally to Figure 121, the proximal pivot driver 10430 can be pushed proximally. such that a proximal drive shoulder 10436 contacts the second locking cam 10456 and pulls the second locking cam 10456 proximally. In various circumstances, the second locking cam 10456 may comprise a drive pin 10438 extending therefrom and may receive contact with the distal drive shoulder 10436, so that as the distal pivot drive 10430 is pushed towards it. the second locking cam 10456 and the distal pivot driver 10440 may be slid proximal to the second locking surface 10459. In some circumstances the second locking cam 10456 may rotate about its projection 10458 so to accommodate such movement. In any case, similar to the above, the proximal movement of the distal pivot actuator 10440 may pivot the end actuator in an opposite direction. Similar to the above, when the end actuator has been sufficiently pivoted, the proximal pivot actuator 10430 may be released, which may allow traction spring 10455 to displace locking cams 10454 and 10456 when engaging surfaces. 10453 and 10459, respectively, and place pivot lock 10450 in its locked condition, as shown in Figure 119.

In addition to the above, when a proximal load P is transmitted to the distal pivot actuator 10440 from the end actuator, with the pivot lock 10450 in its locked condition, the second locking meat 10456 is additionally pulled to the coupling. with such locking wall 10459. In such circumstances, the proximal load P is only capable of increasing the wedging force holding the second locking element 10456 in position. Indeed, the second locking cam 10456 may comprise a one-way lock that can prevent proximal movement of the distal pivot actuator 10440 until the second locking cam 10456 is unlocked as described above. When the second locking cam 10456 is unlocked, and the distal pivot actuator 10440 is being moved proximally, the first locking cam 10454 cannot block, or at least not substantially block, the proximal movement of the distal pivot actuator 10440. When a distal load D is transmitted to the distal pivot actuator 10440 from the end actuator with the pivot lock 10450 in its locked condition, the first locking cam 10454 is additionally pulled in engagement with the locking wall 10453. In In such circumstances, the distal load D is only capable of increasing the wedging force holding the first locking meat 10454 in position. Indeed, the first locking cam 10454 may comprise a one-way lock that can prevent distal movement of the distal pivot actuator 10440 until the first locking cam 10454 is unlocked as described above. When the first locking cam 10454 is unlocked, and the distal pivot actuator 10440 is being moved distally, the second locking cam 10454 cannot block, or at least not substantially block, the distal movement of the distal pivot actuator 10440. .

As discussed above, a surgical instrument may comprise a trigger drive for treating tissue captured in the end actuator of the surgical instrument, a pivot actuator for pivoting the end actuator around a pivot joint, and a set of clutch, which can be used to selectively engage the pivot drive to the trigger drive. An exemplary clutch assembly 10070 has been discussed above, while another exemplary clutch assembly, i.e. clutch assembly 11070, is discussed below. In various circumstances, the surgical instruments presented in the present invention may use any clutch assembly.

Turning to Figures 131 to 149 now, the surgical instrument may use a rod assembly 11010 which may include an end actuator 10020, a pivot joint 10090 and a pivot lock 10050 which may be configured to hold securely. releasable end actuator 10020 in position. The reader will understand that portions of the end actuator 10020 have been removed in Figures 131 to 133 for illustration purposes; however, end actuator 10020 may include a staple cartridge positioned therein and / or an anvil pivotally coupled to a channel holding the staple cartridge. The operation of end actuator 10020, pivot joint 10090, and pivot lock 10050 has been discussed above and is not repeated at this point for brevity. The rod assembly 11010 may further include a proximal housing composed of housing portions 11002 and 11003, for example, which may connect the rod assembly 11010 to the handle of a surgical instrument. Rod assembly 11010 may further include a closure tube 11015 which may be used to close and / or open the anvil of end actuator 10020. Referring primarily to Figures 132 to 134 now, rod assembly 11010 may include a column 11004, which may be configured to hold fixedly to the frame portion of rod 10012, which is discussed above in conjunction with pivot lock 10050. Column 11004 may be configured to slidingly support a firing member 11060 therein. and, two, slidingly holding the closure tube 11015 extending around the column 11004. The column 11004 can also be configured to slidingly support a proximal pivot driver 11030. In various circumstances, the column 11004 may comprise a proximal end 11009, which is supported by a frame portion 11001, which may be configured to allow column 11004 to be rotated about of its longitudinal axis.

In addition to the above, stem assembly 11010 may include a clutch assembly 11070, which may be configured to selectively and releasably engage the proximal pivot driver 11030 to trigger element 11060. Clutch assembly 11070 may comprise a locking ring or sleeve 11072 positioned around the triggering element 11060, wherein the locking sleeve 11072 may be rotated between a engaged position, wherein the locking sleeve 11072 couples the proximal pivot actuator 11030 to the triggering element. 11060, and a disengaged position, wherein the proximal pivot driver 11030 is not operably coupled to the firing member 11060. When the locking sleeve 11072 is in its engaged position (Figures 135, 136, 138, 139, 141 and 145 to 149), in addition to the above, the distal movement of the triggering element 11060 may move the proximal pivot actuator 11030 distally and correspondingly. proximal movement of trigger element 11060 may move proximal pivot driver 11030 proximally. When locking sleeve 11072 is in its disengaged position (Figures 142-144), movement of trigger element 11060 is not transmitted to proximal pivot driver 11030, and as a result, trigger element 11060 may move independently. 11030. In various circumstances, the proximal pivot driver 11030 may be held in position by the pivot lock 11050 when the proximal pivot driver 11030 is not being moved in the proximal or distal directions by the firing member 11060.

Referring primarily to Figure 134, locking sleeve 11072 may comprise a cylindrical, or at least substantially cylindrical body, including a longitudinal aperture defined therein, configured to receive firing element 11060. Sleeve 11072 may comprise a first inwardly facing locking element 11073 and a second outwardly facing locking element 11078. The first locking element 11073 may be configured to be selectively engaged with the firing element 11060. More particularly when the locking sleeve 11072 is in position engaged, the first locking element 11073 may be positioned in a drive notch 11062 defined in the triggering element 11060, such that a distal compressive force and / or a proximal tensile force may be transmitted from the triggering element 11060 to the locking glove 11072. For one, when the locking glove 11072 is in its position When engaged, the second locking element 11078 may be positioned within a drive groove 11035 defined in the proximal pivot driver 11035, such that the distal compressive force and / or the proximal tensile force applied to the locking sleeve 11072 can be transmitted to the proximal pivot driver 11030. In effect, trigger 11060, locking sleeve 11072 and proximal pivot driver 11030 will move together when locking sleeve 11072 is still in its engaged position. On the other hand, when the locking sleeve 11072 is in its disengaged position, the first locking element 11073 cannot be positioned within the driving notch 11062 of the firing element 11060 and as a result a distal compressive force and / or a proximal tensile force cannot be transmitted from the firing element 11060 to the locking sleeve 11072. Correspondingly, the distal compression force and / or the proximal tensile force cannot be transmitted to the proximal pivot actuator 11030. In such circumstances , the triggering element 11060 may be slid proximal and / or distal to the locking sleeve 11072 and the proximal pivot driver 11030. In order to accommodate such relative movement, the triggering element 11060 in such circumstances may include a longitudinal slot or groove 11061 defined therein which may be configured to receive the first 11073 of the locking sleeve 11072 when the locking sleeve 11072 is in its disengaged position and furthermore accommodates the longitudinal movement of the triggering element 11060 relative to the locking sleeve 11072. In various circumstances, the second locking element 11078 may remain engaged with drive groove 11035 in proximal pivot drive 11030, regardless of whether locking sleeve 11072 is in its engaged or disengaged position.

In addition to the above, the clutch assembly 11070 may further comprise a rotary lock actuator 11074, which may be configured to rotate lock sleeve 11072 between its engaged and disengaged position. In various circumstances, the lock actuator 11074 may comprise a ring which may surround the locking sleeve 11072, a longitudinal opening extending through the ring and, with reference mainly to Figure 135, an inwardly extending drive member 11077 , engaged with the locking sleeve 11072. Again with reference to Fig. 134, the locking sleeve 11072 may comprise a longitudinal slot 11079 defined therein, wherein the drive element 11077 of the locking actuator 11074 may be received. Similar to the above, the locking actuator 11074 may be moved between a engaged position, where the locking actuator 11074 may position the locking sleeve 11072 in its engaged position, and a disengaged position in which the locking actuator 11074 can position locking sleeve 11072 in its disengaged position. In order to move the locking sleeve 11072 between its engaged position and its disengaged position, the locking actuator 11074 may be rotated about its longitudinal axis so that the extending drive member 11077 engages a side wall of the slot 11079 to apply a rotational force to the locking sleeve 11072. In various circumstances, the locking actuator 11074 may be contained, so that it does not move longitudinally with the locking sleeve 11072. In such circumstances, the locking actuator 11074 may rotate. within an at least partially circumferential window 11089 defined in the rod post 11004. In order to accommodate the longitudinal movement of the locking sleeve 11072, when the locking sleeve 11072 is in its engaged position, the locking sleeve 11072 may further include a longitudinal opening 11079 in which the drive element 11077 may move. In various circumstances, longitudinal aperture 11079 may include a central notch 11076 that may correspond to the unpivoted position of the end actuator 10020. In such circumstances, the central notch 11076 may serve as a detent configured to releasably retain or indicate orientation. of the 10020 end actuator, for example.

In addition to the above, with reference mainly to Figure 134, locking actuator 11074 may further comprise a cam follower 11081 extending out of it which may be configured to receive a force applied thereto. turn locking sleeve 11072 as described above. In various circumstances, rod assembly 11010 may additionally comprise a drum switch 11075 which may be configured to apply a rotational force to cam follower 11081. Drum switch 11075 may extend around locking actuator 11074 and include a longitudinal slit 11083 defined therein, in which the meat follower 11081 may be arranged. When the drum switch 11075 is turned, a side wall of slot 11083 may contact the meat follower 11081 and rotate lock actuator 11074 as described below. Drum switch 11075 may further comprise at least partially circumferential openings 11085 defined therein which, with reference to Figure 137, may be configured to receive circumferential crimps 11007 extending from the rod housing, consisting of housing halves 11002 and 11003 and allow relative rotation, but not translation, between the drum switch 11075 and the stem housing. Again with reference to Fig. 134, drum switch 11075 may be used to rotate locking actuator 11074 and locking sleeve 11072 between their engaged and disengaged positions. In various circumstances, the rod assembly 11010 may additionally comprise a traction element such as a spring 11080, for example, which may be configured to pull the drum switch 11075 in a direction that pulls the locking actuator 11074 and the locking sleeve. locking 11072 in their engaged positions. Thus, in essence, spring 11080 and drum switch 11075 can be configured to drive the pivot drive system operable with the trigger drive system. Also as illustrated in Fig. 134, drum switch 11075 may comprise portions of a slip ring assembly 11005, which may be configured to conduct electrical power to and from the end actuator 10020 and / or communicate signals to the actuator. end 10020 and / or from it. The slip ring assembly 11005 may comprise a plurality of at least substantially concentric, or at least substantially concentric, conductors 11008 on opposite sides thereof which may be configured to allow relative rotation between the halves of the slip ring assembly 11005 and at the same time. keep the electrically conductive circuits between them. US Patent Application Serial No. 13 / 800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed March 13, 2013, is incorporated by reference in its entirety. US Patent Application Serial No. 13 / 800,025, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed March 13, 2013, is incorporated by reference in its entirety.

In various circumstances, in addition to those set forth above, the stem assembly locking mechanism 11010 may be configured to pull the clutch assembly 11070 into its disengaged state. For example, with reference primarily to Figures 134 and 144 to 147, closure tube 11015 may be distally advanced to close the anvil of end actuator 10020 as discussed above and, in so doing, carry lock actuator 11074. and correspondingly the locking sleeve 11072 at its disengaged positions. For this purpose, closure tube 11015 may comprise a cam window 11016 through which the cam follower 11081 extending from locking actuator 11074 may extend. The meat window 11016 may include an oblique side wall or meat edge 11017 which may be configured to engage the meat follower 11081 as the closing tube 11015 is moved distally between an open, or not closed, position ( 145 to 149) and a closed position (Figures 142-144) and rotate locking actuator 11074 from its engaged position (Figures 145-149) to its disengaged position (Figures 142 to 144). Comparing Figures 144 and 149, the reader will understand that when the meat follower 11081 and locking actuator 11074 are brought into their disengaged position, the meat follower 11081 can rotate the drum switch 11075 and compress the spring 11080 between the 11075 drum switch and the rod housing. As long as the closing tube 11015 remains in its advanced, closed position, the pivot driver is disconnected from the trigger drive. In order to reconnect the pivot drive and the trigger drive, the closure tube 11015 may be retracted into its non-activated position, which may also open the end actuator 10020 and as a result may push the cam edge 11017. proximally and allow spring 11080 to retract locking actuator 11074 and locking sleeve 11072 into their engaged positions.

As described in more detail in another section, the surgical instrument 1010 may include a plurality of operable systems extending at least partially through the rod 1210 and in operable engagement with the end actuator 1300. For example, the instrument 1010 may include a closure assembly and may alternate end actuator 1300 between an open configuration and a closed configuration, a pivot assembly that may pivot end actuator 1300 relative to stem 1210 and / or a trigger assembly which may clamp and / or cut tissue captured by end actuator 1300. In addition, surgical instrument 1010 may include a housing such as cable 1042, which may be separately couplable to stem 1210 and may include a complementary closure, a hinge and / or trigger drive systems that can be operably coupled to the closure, hinge and to the firing assemblies respectively of rod 1210 when cable 1042 is coupled to rod 1210.

In use, a surgical instrument operator 1010 may wish to reset the surgical instrument 1010 and return one or more of the surgical instrument sets 1010 to a preset position. For example, the operator may insert end actuator 1300 into a surgical site on a patient through an access port and may then pivot and / or close end actuator 1300 to capture tissue within the cavity. The operator may then choose to undo some or all of the above actions and may choose to remove surgical instrument 1010 from the cavity. The surgical instrument 1010 may include one or more systems configured to facilitate the reliable return of one or more of the above described assemblies to the initial state with minimal operator input, thereby allowing the operator to remove the surgical instrument from the cavity.

Referring to Figure 150, the surgical instrument 1010 may include a pivot control system 3000. A surgical operator may use the pivot control system 3000 to pivot end actuator 1300 relative to rod 1210 between position of initial joint state and an articulated position. In addition, the surgical operator may use the pivot control system 3000 to reset or return the pivot end actuator 1300 to the pivot initial state position. The pivot control system 3000 may be positioned at least partially on cable 1042. In addition, as illustrated in the exemplary schematic block diagram in Fig. 151, the pivot control system 3000 may comprise a controller such as , controller 3002, which may be configured to receive an input signal and, in response, activate a motor, such as motor 1102, to cause end actuator 1300 to pivot accordingly. input. Examples of suitable controllers are described in other sections of this document and include, but are not limited to, the 7004 microcontroller (See Figure 185).

In addition to the above, the end actuator 1300 may be positioned in sufficient alignment with the rod 1210 in the initial pivot position, also called the non-articulated position in the present invention, so that the end actuator 1300 and at At least a portion of the rod 1210 may be inserted into or withdrawn from a patient's internal cavity through an access port, such as a trocar positioned on an internal cavity wall without damaging the axial port. In certain embodiments, end actuator 1300 may be aligned, or at least substantially aligned, with a "LL" longitudinal axis passing through rod 1210 when end actuator 1300 is in the initial pivot state position, as illustrated in FIG. 150. In at least one embodiment, the initial pivot position may be inclined at any angle of up to 5 °, including, for example, the longitudinal axis on either side of the longitudinal axis. In another embodiment, the initial articulation state position may be. inclined to any angle of up to 3 ° including, for example, the longitudinal axis on either side of the longitudinal axis. In yet another embodiment, the initial state of articulation may be inclined at any angle of up to 7 °, including, for example, with the longitudinal axis on either side of the longitudinal axis.

The pivot control system 3000 may be operated to pivot end actuator 1300 relative to rod 1210 in a plane that intersects the longitudinal axis in a first direction, such as a clockwise direction, and / or a second direction opposite the first direction, such as a counterclockwise direction. In at least one example, the pivot control system 3000 may be operated to pivot the end actuator 1300 clockwise from the pivot start state position to a pivot position at an angle of 10 ° to the shaft. right to the right of the longitudinal axis, for example. In another example, the pivot control system 3000 may be operated to pivot the end actuator 1300 counterclockwise from the pivot position at an angle of 10 ° to the longitudinal axis to the pivot start state position. . In yet another example, the pivot control system 3000 may be operated to pivot end actuator 1300 relative to rod 1210 counterclockwise from the pivot initial state position to pivot position at an angle. 10 ° with the longitudinal axis to the left of the longitudinal axis. The reader will understand that the end actuator may be pivoted at different angles clockwise and / or counterclockwise in response to operator commands.

Referring to Figure 150, the cable 1042 of the surgical instrument 1010 may comprise an interface 3001 which may include a plurality of inputs that may be used by the operator in part to pivot end actuator 1300 relative to rod 1210 , as described above. In certain embodiments, interface 3001 may comprise a plurality of switches that may be coupled to controller 3002 by means of electrical circuits, for example. In the embodiment illustrated in Figure 151, interface 3001 comprises three switches 3004A-C, each of switches 3004A-C being coupled to controller 3002 by one of three electrical circuits 3006A-C, respectively. The reader will understand that other circuit breaker combinations can be used with the 3001 interface.

In addition to the above, controller 3002 may comprise a processor 3008 and / or one or more memory units 3010. By executing instruction code stored in memory 3010, processor 3008 may control various components of surgical instrument 1, as the 1102 engine and / or a user screen. Controller 3002 may be implemented using integrated and / or discrete hardware elements, software elements and / or a combination of both. Examples of integrated hardware elements may include processors, microprocessors, microcontrollers, integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate arrangements (FPGA) , logic gates, registers, semiconductor devices, integrated circuits, integrated microcircuits, integrated circuit sets, microcontroller, system-on-chip (SoC) and / or system-in-package (SIP). Examples of discrete hardware elements may include circuits and / or circuit elements (for example, logic gates, field effect transistors, bipolar transistors, resistors, capacitors, inductors, relay and the like). In other embodiments, controller 3002 may include a hybrid circuit comprising discrete integrated circuit elements or components on one or more substrates, for example.

Again with reference to Figure 151, surgical instrument 1010 may include a motor controller 3005 in operable communication with controller 3002. Motor controller 3005 may be configured to control a direction of rotation of motor 1102. For example, motor 1102 may be powered by a battery such as battery 1104 and motor controller 3002 may be configured to determine the polarity of the voltage applied to motor 1102 by battery 1104 and in turn the direction of rotation 1102, based on input from controller 3002. For example, motor 1102 can reverse the direction of its rotation from a clockwise direction to a counterclockwise direction when the voltage polarity applied to motor 1102 by the battery 1104 is inverted by motor controller 3005 based on input from controller 3002. Examples of suitable motor controllers are described in other sections of this document. and include, but are not limited to, driver 7010 (Figure 185).

In addition, as described in another section of this document in more detail, motor 1102 may be operably coupled to a pivot drive, such as the proximal pivot drive 10030 (Figure 37). In use, motor 1102 may drive proximal pivot driver 10030 distally or proximally, depending on the direction in which motor 1102 rotates. In addition, the proximal pivot actuator 10030 may be operably coupled to the end actuator 1300, so that, for example, the axial translation of the proximal pivot actuator 10030 may cause the end actuator 1300 to be counterclockwise pivoting, for example, and / or the axial translation of the distal proximal pivot driver 10030 may cause the end actuator 1300 to be pivoted clockwise, for example.

In addition to the above, again referring to Figure 151, interface 3001 can be configured such that switch 3004A can be dedicated to clockwise pivot of end actuator 1300 and switch 3004B can be dedicated to pivot in counterclockwise of the end actuator 1300. For example, the operator by pivoting end actuator 1300 clockwise by closing switch 3004A, which may send the controller the signal to 3002 cause motor 1102 to rotate in the forward direction. clockwise, thereby causing the proximal pivot actuator 10030 to be advanced distally and causing the end actuator 1300 to be pivoted clockwise. In another example, the operator by pivoting the end actuator 1300 counterclockwise by closing the switch 3004B, which can send the controller the signal to 3002 make the motor 1102 rotate counterclockwise, for example. , and retracting the proximal pivot actuator 10030 proximally to pivot the end actuator 1300 counterclockwise.

In addition to the foregoing, the switches 3004A-C may comprise open position dome switches, as illustrated in Figure 154. Other types of switches may also be employed, such as capacitive switches. In the embodiment illustrated in Figure 154, switches 3004A and 3004B are controlled by an oscillator 3012. Other means for controlling switches 3004A and 3004B are also contemplated within the scope of the present disclosure. In the neutral position, illustrated in Figure 154, both switches 3004A and 3004B are arcuate in the open position. The operator, for example, can pivot end actuator 1300 clockwise by tilting the oscillator forward, thereby depressing dome switch 3004A as illustrated in Figure 155. As a result, circuit 3006A (Figure 151 ) may be closed by signaling to controller 3002 to activate motor 1102 to pivot end actuator 1300 clockwise as described above. Motor 1102 may continue to pivot end actuator 1300 until the operator releases oscillator 3012, thereby allowing dome switch 3004A to return to the open position and oscillator 3012 to neutral. In some circumstances, controller 3002 may be able to identify when end actuator 1300 has reached a predetermined maximum degree of pivot and at that point disengage motor 1102, regardless of whether the dome switch is pressed 3004A. In one embodiment, controller 3002 may be configured to disregard operator input and stop motor 1102 when a maximum safe pivot degree is reached. Alternatively, the operator may pivot end actuator 1300 counterclockwise by tilting the oscillator backward by pressing the dome switch 3004B, for example. As a result, circuit 3006B may be closed by signaling to controller 3002 to activate motor 1102 to pivot end actuator 1300 counterclockwise as described above. Motor 1102 may continue to pivot end actuator 1300 until the operator releases oscillator 3012, thereby allowing dome switch 3004B to return to the open position and oscillator 3012 to neutral. In some circumstances, controller 3002 may be able to identify when end actuator 1300 has reached a predetermined maximum degree of pivot and at that point disengage motor 1102 regardless of whether the dome switch 3004B is depressed. In one embodiment, controller 3002 may be configured to disregard operator input and stop motor 1102 when a maximum safe pivot degree is reached.

In certain embodiments, the pivot control system 3000 may include a virtual stopper capable of alerting the operator when the end actuator has reached the initial pivot state position. For example, the operator may tilt oscillator 3012 to pivot end actuator 1300 from a pivot position to the initial pivot state position. Once the initial pivot state position is reached, the 3002 controller can break the pivot of the 1300 end actuator.

In order to continue the joint beyond the initial joint state position, the operator may release the 3012 oscillator and then tilt it again to restart the joint. Alternatively, a mechanical detent may also be used to provide the operator with haptic feedback that the end actuator has reached the initial pivot state position. Other forms of feedback can be used, such as acoustic feedback.

In addition to the above, the pivot control system 3000 may include a reset input, which may reset or return end actuator 1300 to the pivot start state position if end actuator 1300 is in pivot position. For example, as illustrated in Figure 160, upon receiving a reset input signal, controller 3002 can determine the pivot position of end actuator 1300 and, if end actuator 1300 is in the initial pivot state position, the controller 3002 will do nothing. However, if end actuator 1300 is in a pivoted position when it receives a restart input signal, the controller can activate motor 1102 to return end actuator 1300 to the start state position! of articulation. As illustrated in Fig. 156, the operator may push down the oscillator 3012 to close dome switches 3004A and 3004B simultaneously, or at least for a short time between them, which may transmit the input signal from reset to controller 3002 to restart or return end actuator 1300 to the initial pivot state position. The operator can then release oscillator 3012, thereby allowing oscillator 3012 to return to neutral position and switches 3004A and 3004B to open positions. Alternatively, interface 3001 of the articulation control system 3000 may include a separate reset switch, such as another dome switch that can be independently closed by the operator and transmit the reset input signal to controller 3002.

Referring to Figures 157 to 159, in certain embodiments, interface 3001 of surgical instrument 1010 may include an interface oscillator 3012A, which may include a contact member 3013 that may be configured to assist oscillator 3012A in its operation. neutral position as illustrated in Figure 157. Contact element 3013 may comprise an arcuate surface 3017 which may be pressed against interface housing 3011 by a traction element and / or tractive forces applied thereto by dome switches 3004A and 3004B. Contact element 3013 can be configured to swing or rotate. when the operator tilts the oscillator 3012A forward as shown in Figure 158 or backward to pivot end actuator 1300 clockwise or counterclockwise respectively. When oscillator 3012A is released, the arcuate surface of oscillator 3012A can be rotated back to its neutral position against interface housing 3011 by the tractive forces applied thereto. In various circumstances, contact member 3013 may be moved in the opposite direction of interface housing 3011 when the operator pushes oscillator 3012A downward, as illustrated in Figure 159, to push dome switches 3004A and 3004B simultaneously, or at least with a short time interval between them, which may transmit the reset input signal to controller 3002 to reset or return end actuator 1300 to the pivot start state position as discussed above.

As described above, controller 3002 can be configured to determine the pivot position of end actuator 1300. Knowledge of the pivot position of end actuator 1300 can allow controller 3002 to determine whether motor 1102 needs to be activated. to return the end actuator 1300 to the pivot start state position and, if so, to determine the direction of rotation and the number of engine revolutions 1102 required to return the end actuator 1300 to the pivot start state position. articulation. In certain embodiments, controller 3002 may register the end actuator pivot 1300 and store the pivot position of the end actuator 1300, for example, in memory 3010. For example, controller 3002 may record the direction of rotation, speed 1102 when the motor 1102 is used to pivot the end actuator 1300. In some circumstances, controller 3002 may be configured to evaluate the displacement of the trigger system when the trigger system is used to trigger the articulation system. More specifically, when the pivot driver is coupled to the trigger drive, controller 3002 can monitor the trigger drive to determine the displacement of the pivot driver. Processor 3008 can calculate the pivot position of end actuator 1300 based on these parameters and store the distance traveled by the pivot actuator in memory 3010, for example. The reader will understand that other parameters may be recorded and other algorithms may be used by processor 3010 to calculate the pivot position of end actuator 1300, all of which are contemplated by the present description. The stored position of the stored end actuator 1300 can be continuously updated as the end actuator 1300 is pivoted. Alternatively, the stored pivot position can be updated at different points, for example, when the operator releases switch 3004A or dome switch 3004B after pressing it to pivot end actuator 1300.

In either case, upon receiving the reset input signal, processor 3008 can access memory 3010 to retrieve the last stored end actuator pivot position 1300. If the last stored pivot position is not the initial pivot state position, processor 3008 can calculate the direction and rotation time of motor 1102 required to return end actuator 1300 to the pivot start state position based on last stored articulation position. In some circumstances, processor 3008 may calculate the distance and direction in which the trigger drive needs to be moved to place the pivot actuator in the initial state position. In either case, controller 3002 may enable motor 1102 to rotate as necessary to return end actuator 1300 to the initial pivot state position. In addition, processor 3008 may also update the stored pivot position to indicate the initial pivot state position. However, if the last stored pivot position is the initial pivot state position, controller 3002 will do nothing. In some circumstances, the 3002 controller may alert the user that the end actuator and pivot system are in their initial state positions through some form of feedback. For example, controller 3002 may be configured to activate a beep and / or light to alert the operator that end actuator 1300 is in the initial pivot state position.

In certain embodiments, the surgical instrument 1010 may include a sensor configured to detect the pivot position of the end actuator 1300 and communicate it to the controller 3002. Similarly to the above, the pivot position of the end actuator The detected 1300 can be stored in memory 3010 and can be continuously updated while the 1300 end actuator is pivoted, or it can be updated when the operator releases the dome switch 3004A after it pushes it to pivot the 1300 end actuator, for example. example.

[00369] In certain embodiments, it may be necessary to include an alert step before restarting or returning the end actuator 1300 to the pivot start state position to provide the operator with a chance to resolve the mistaken activation of the reset switch. For example, controller 3002 may be configured to react to a first reset input signal transmission to controller 3002 by activating a light and / or audible signal to alert the operator that oscillator 3012 has been depressed. In addition, controller 3002 may also be configured to react to a second reset input signal transmission to controller 3002 within a predetermined period of time from the first transmission by activating motor 1102 to return the end actuator 1300 to the initial articulation state position. Put another way, pushing down the oscillator 3012 for the first time will alert the operator, pushing down the oscillator 3012 a second time within a predetermined period of time from the first time the oscillator was pressed will cause controller 3002 activates motor 1102 to return end actuator 1300 to initial pivot state position.

In addition to the above, interface 3001 may include a display, which may be used by controller 3002 to communicate an alert message to the operator in response to the first time the oscillator 3012 is pressed. For example, in response to the first time the oscillator 3012 is pressed down, the controller 3002 can communicate with the operator through the display to confirm that the operator wishes to return the end actuator 1300 to the initial pivot state position. If the operator responds by pressing oscillator 3012 a second time within the predetermined time period, controller 3012 may react by activating motor 1102 to return end actuator 1300 to the initial pivot state position.

[00371] As described in further sections in more detail, the 1300 end actuator of the surgical instrument 1010 can. include a first jaw comprising an anvil, such as anvil 1310, and a second jaw comprising a channel configured to receive a staple cartridge, such as staple cartridge 1304, which may include a plurality of staples. In addition, end actuator 1300 can be moved between an open configuration and a closed configuration. In addition, the surgical instrument 1010 may include a locking lock, and the cable 1042 may include a locking release element, such as the release element 1072, which may be pressed by the operator to release the lock. closing the 1300 end actuator to the open configuration. In addition, controller 3002 may be coupled to a sensor 3014 configured to detect release of the locking lock by release member 1272. In addition, surgical instrument 1010 may include a trigger trigger, such as the trigger trigger. 1110, which may be operably coupled to a tripping element such as tripping element 10060. Controller 3002 may be coupled to a sensor 3015 configured to detect the position of tripping 1110. The firing 1110 may be axially moved to advance the firing member 10060 from the initial firing position to the fired position to implant the staples of the staple cartridge 1304 and / or cut the captured tissue between the anvil 1310 and the cartridge. 1304 when end actuator 1300 is in the closed configuration.

Also, as described in another section in more detail, the proximal pivot driver 10030 of the surgical instrument 1010 may be selectively coupled to the trigger drive 1110, so that when the trigger drive 1110 is. driven by motor 1102, proximal pivot actuator 10030 can be driven by trigger drive 1110, and proximal pivot actuator 10030 can in turn pivot end actuator 1300 to rod 1210 as described above. In addition, trigger drive 1110 can be decoupled from proximal pivot driver 10030 when end actuator 1300 is in the closed configuration. This arrangement allows motor 1102 to drive trigger 1110 to move trigger 10060 between the initial trigger state position and the triggered position independently of the proximal pivot driver 10030.

In addition to the above, as described in more detail in another section, the 1010 surgical instrument may include a 10070 clutch system (See Figure 37), which can be engaged when the 1300 end actuator is moved from the open configuration. to the closed configuration, and disengaged when the end actuator 1300 is moved from the closed configuration to the open configuration. When engaged, the clutch system 10070 may operably couple the trigger drive 1110 to the proximal drive member 10030, and when the clutch element is disengaged, the trigger drive 1110 may be disengaged from the proximal pivot drive. Because trigger 1110 can be disengaged and moved independently of proximal pivot driver 10030, controller 3002 can be configured to guide trigger 1110 to locate proximal pivot driver 10030 and rejoin proximal pivot driver 10030. to trip trigger 1110 again. Controller 3002 can record the direction of rotation, the speed of rotation, and the time of rotation of motor 1102 when trigger drive 1110 is coupled to proximal pivot drive 10030 to determine and store the location of proximal pivot driver 10030, for example. memory 3010. The controller 3002 may, as described in another section of the present invention, monitor the displacement of the triggering system used to drive the articulation system. Other parameters and algorithms can be used to determine the location of proximal pivot trigger 10030. In certain embodiments, trigger 1110 may include a sensor configured to detect when trigger 1110 is coupled to proximal pivot driver 10030 and communicate event to controller 3002 to confirm coupling engagement between firing drive 1110 and proximal pivot drive 10030. In certain embodiments, when controller 3002 is not configured to store and access the pivot position of end actuator 1300, the controller may activate motor 1102 to propel trigger drive 1110 to travel over its full range of motion until trigger drive 1110 enters arrangement coupled with proximal pivot driver 10030.

In addition to the foregoing, in certain embodiments, the initial trigger position of the trigger element 10060 may be situated in a proximal portion of the end actuator 1300. Alternatively, the initial trigger position of the trigger element 10060 may be located at a distal portion of the end actuator 1300. In certain embodiments, the initial trigger state position may be defined at a position where the trigger element 10060 is sufficiently retracted relative to the end actuator 1300 of so that the end actuator 1300 can be freely moved between the open configuration and the closed configuration. In other circumstances, the starting state position of the triggering element 10060 may be identified as the position of the triggering element that positions the pivot drive system and the end actuator in their pivoted starting state position.

Again with reference to Figure 151, interface 3001 of surgical instrument 1010 may include an initial state input. The operator may use the initial state input to transmit an initial state input signal to the controller 3002 to return the surgical instrument 1010 to the initial state, which may include returning the end actuator 1300 to the pivot initial state position. and / or the tripping element 10060 to the position of the initial tripping state. As illustrated in Fig. 154, the initial state input may include a switch, for example switch 3004C, which may be coupled to controller 3002 by an electrical circuit 3006C. As illustrated in Figures 152 and 153, the initial state input may include a cover or lid 3014 which the operator may press to close switch 3004C and transmit the initial state input signal through circuit 3006C to controller 3002.

Again with reference to Fig. 161, the controller 3002, upon receiving the initial state input signal, can check the position of trigger 1110 via sensor 3015 and can check in memory 3010 the last updated pivot position . If controller 3002 determines that end actuator 1300 is in the pivot start state position and trigger drive 1110 is positioned coupled with proximal pivot drive 10030, controller 3002 will do nothing. Alternatively, controller 3002 may provide the operator with feedback that the surgical instrument 1010 is in the initial state. For example, controller 3002 may be configured to activate a beep and / or light, or transmit a message through the screen to alert the operator that the surgical instrument 1010 is in the initial state. However, if controller 3002 determines that end actuator 1300 is not in the pivot start state position and trigger drive 1110 is positioned so that it is coupled to proximal pivot driver 10030, controller 3002 may activate motor 1102. to propel the trigger drive 1110 to move proximal pivot driver 10030, which can in turn pivot end actuator 1300 relative to its rod 1210 back to the pivot initial state position. Alternatively, if controller 3002 determines that end actuator 1300 is in the pivot start state position but trigger drive 1110 is not positioned so that it is coupled to proximal pivot actuator 10030, controller 3002 may activate the motor. 1102 to propel trigger drive 1110 to a position where trigger drive 1110 is coupled with pivot drive 10030. In so doing, motor 1102 can retract trigger 10060 to the initial trigger state position. .

In certain embodiments, with reference to Figure 162, the controller 3002, upon receiving the initial state input signal, can verify that the end actuator 1300 is in the open configuration by means of sensor 3016. Other means for determining whether 1300 end actuator is in open configuration can be employed. If controller 3002 determines that end actuator 1300 is in the open configuration, controller 3002 may act as described above. However, if controller 3002, upon receiving the initial state input signal, determines that end actuator 1300 is in the closed configuration, controller 3002 can communicate with the operator to confirm that he wishes to return surgical instrument 1010 to initial state. This step can be a preventive step to prevent the operator from accidentally opening the 1300 end actuator during a surgical procedure, for example. In certain embodiments, controller 3002 may communicate with the operator by displaying a message on a screen coupled with controller 3002, for example, asking the operator to return end actuator 1300 to the open configuration by pressing release member 1072. If the operator does not release end actuator 1300 to the open configuration, controller 3002 will do nothing. In other embodiments, controller 3002 may alert the operator by displaying an error message or by activating a sound or light. However, if the operator releases end actuator 1300 to the open configuration, controller 3002 may restart the surgical instrument as described above.

Referring to Figure 163, trigger 10060 may comprise a separate trigger reset input, which may include a switch and an electrical circuit connecting the switch to controller 3002, wherein the switch may be configured to close. the circuit is to transmit a trigger restart input signal to controller 3002. Controller 3002, upon receiving the trigger reset input signal, can verify that trigger element 10060 is in the trigger initial state position. As described in another section in more detail, trigger element 10060 may be operably coupled to trigger drive 1110, which may comprise a sensor, such as sensor 3015 (see Figure 151), which may transmit the trigger location 1110 to controller 3002. Accordingly, controller 3002 can determine the location of trigger element 10060 by monitoring the location of trigger 1110. On the one hand, if controller 3002 determines that trigger element 10060 is in position of the initial trigger state, or controller will do nothing, or alert the operator that trigger element 10060 is already in the initial trigger state position by activating a sound and / or light. On the other hand, if controller 3002 determines that trigger 10060 is not in the initial trigger state position, controller 3002 may activate motor 1102 to drive trigger 1110 to return trigger 10060 to position of the initial trigger state.

As described in more detail in another section, the surgical instrument 1010 may include a plurality of assemblies that extend at least partially through the rod 1210 and are operably in engagement with the end actuator 1300. For example, the surgical instrument 1010 may include a closure assembly and may alternate end actuator 1300 between an open configuration and a closed configuration, a pivot assembly that may pivot end actuator 1300 relative to rod 1210 and / or a trigger assembly that may clamping and / or cutting tissue captured by end actuator 1300. In addition, surgical instrument 1010 may include a housing such as cable 1042 which may be separately couplable to stem 1210 and may include a complementary closure, a and / or trigger drive systems that can be operably coupled to the closure, firing assemblies respectively of rod 1210 when cable 1042 is coupled to rod 1210.

In use, the assemblies described above and their systems of. corresponding drives may be operably connected. On the one hand, attempting to separate cable 1042 from rod 1210 during operation of surgical instrument 1010 may break the connections between the assemblies and their corresponding drive systems so that one or more of these assemblies and their corresponding drive systems are misaligned. On the other hand, preventing the user from separating cable 1042 from rod 1210 during operation without further ado can lead to confusion, frustrations and / or the mistaken consideration that the surgical instrument is not working properly.

The surgical instrument 1010 may include a safety release system 3080 which may be configured to return one or more of the assemblies and / or corresponding drive systems of the surgical instrument 1010 to an initial state, thereby allowing the operator securely detaches cable 1042 from rod 1210. The term initial state, as used in the present invention, may refer to a predefined state in which one or more of the corresponding actuator assemblies and / or operating systems 1010 are found , or they can be returned to their default position, such as the position they were in before they were attached from cable 1042 to rod 1210.

Referring to Figure 150, the safety release system 3080 of the surgical instrument 1010 may include a locking element, such as a locking element 3082, which may be moved between a locked configuration and a configuration. not locked. As illustrated in Figure 164, and as described in another section in more detail, stem 1210 may be aligned and coupled to cable 1042 of surgical instrument 1010. In addition, locking member 3082 may be moved from the locked configuration to the locked configuration. of form. locking the cable in coupling engagement with rod 1210. Locking element 3082 may be positioned on a proximal portion of rod 1210 as shown in Figure 166 and may include a locking element 3083 that may be advanced into a receiving slot 3085 positioned on cable 1042 when locking element 3082 is moved to the locked configuration and cable 1042 is coupled to rod 1210. In addition, locking element 3083 may be retracted from receiving slot 3085 when locking element 3082 is moved for the unlocked configuration, thereby allowing cable 1042 to be detached from rod 1210, as illustrated in Figure 167.

Referring to Figure 151, the secure release system 3080 may also include an interlock switch 3084 which may be coupled to the controller 3002 by means of an electrical circuit 3086 which may be configured to transmit a signal. In addition, the interlock switch 3084 may be operably coupled to the locking element 3082. For example, a switch 3086 may be moved to close circuit 3086 when the element The locking element is moved to the unlocked configuration as shown in Figure 167 and can be moved to open circuit 3086 when the locking element 3082 is moved to the locked configuration as illustrated in Figure 166. In this example, the controller 3002 may be configured to recognize circuit closure 3086 as an initial state input signal transmission. Alternatively, in another example, the switch 3086 may be moved to open circuit 3086 when the locking element is moved to the unlocked configuration, and may be moved to close circuit 3086 when the locking element 3082 is moved to the locked configuration. . In this example, controller 3002 may be configured to recognize circuit opening 3086 as an initial state input signal signal transmission.

Again referring to Figure 166 and Figure 167, locking member 3082 may include a first surface 3090 and a second surface 3092, which may be separated by a ramp 3094, wherein locking element 3082 may be positioned. with respect to switch 3084 so that first 3090 and second surface 3092 are slidably movable relative to switch 3084 when cable 1042 is coupled to rod 1210. In addition, as illustrated in Figure 166, first surface 3090 can extend it is in the foreground, and the second surface 3092 may extend in the background, wherein the switch 3084 may be closer to the foreground than to the background. In addition, as shown in Figure 166, the switch 3084 may be depressed by the first surface 3090 when the locking member 3082 is in the locked configuration and the locking member 3083 is received in the receiving slot 3085, thereby closing circuit 3086 ( Figure 151) and transmitting the initial state input signal to the controller 3002. However, as the locking element 3082 is moved to the unlocked configuration and the locking element 3083 is retracted from the receiving slot 3085, the switch 3084 may sliding along ramp 3094 to find second surface 3092, which may provide the inclined switch 3084 with sufficient space for it to return to the open position, as illustrated in Figure 166.

In certain embodiments, as illustrated in Figures 151 and 165, a first end 3084a of switch 3084 may be positioned on cable 1042, for example, in a distal portion thereof, and a second end 3084b of switch 3084 may be positioned on rod 1210, for example, in a proximal portion thereof, operably coupling with locking member 3082. In such embodiments, switch 3084 cannot close circuit 3086 until cable 1042 is coupled to rod 1210 to allow it to locking element 3082 places second end 3084b of switch 3084 in contact with first end 3084a, thereby closing circuit 3086 and transmitting the initial state input signal to controller 3002. In other embodiments, locking element 3082 , first end 3084a and second end 3084b of switch 3084 may be placed on cable 1042 to allow circuit 3086 to close and transmission of the initial state input signal to controller 3002 prior to coupling cable 1042, for example, to return the trigger drive system to its default position to ensure proper alignment with the trigger assembly when rod 1210 is coupled to cable 1042.

As described in further sections in more detail, the end actuator 1300 of the surgical instrument 1010 may include a first jaw comprising an anvil, such as anvil 1310, and a second jaw comprising a channel configured for receiving a staple cartridge, such as staple cartridge 1304, which may include a plurality of staples. In addition, end actuator 1300 can be moved between an open configuration and a closed configuration. For example, surgical instrument 1010 may include a locking latch for locking end actuator 1300 in the locked configuration, and cable 1042 may include a release element for the locking latch, such as release element 1072. , which can be pressed by the operator to release the closing lock, thereby returning the end actuator 1300 to the open configuration. In addition, controller 3002 may be coupled to a sensor 3014 configured to detect release of the locking lock by release member 1072. In addition, surgical instrument 1010 may include a trigger trigger, such as the trigger trigger 1110, which may be operably coupled to a triggering element, such as triggering element 10060. Controller 3002 may be coupled to a sensor 3015 configured to detect the position of triggering 1110. In addition, firing trigger 1110 may be axially advanced, as illustrated in Figure 167A, to advance firing member 10060 between an un fired position and a fired position for implanting the staples of the staple cartridge 1304 and / or cutting the captured tissue between the anvil 1310 and staple cartridge 1304 when end actuator 1300 is in the closed configuration. In addition, the trigger drive may be retracted by motor 1102 from the forward position, for example, the position shown in Figure 167A, to a preset or retracted position, as shown in Figure 167B, when locking element 3082 is moved from the closed configuration. to the open configuration.

In addition to the above, as described in another section in more detail, the proximal pivot actuator 10030 of the surgical instrument 1010 may be selectively coupled to trigger 1110, so that when trigger 1110 is driven by motor 5, the proximal pivot drive 10030 can be driven by firing drive 1110, and the proximal pivot drive 10030 can in turn pivot end actuator 1300 relative to stem 1210 between the initial state position articulation and articulated position as described above. In addition, trigger drive 1110 may be decoupled from proximal pivot driver 10030, for example when end actuator 1300 is in the closed configuration. This arrangement allows motor 1102 to drive trigger 1110 to move trigger 10060 between the non-triggered position and the triggered position, regardless of the proximal pivot drive 10030. How can trigger 1110 be detached from the drive proximal pivot 10030 and independently moved thereto, the controller 3002 can be configured to guide trigger drive 1110 to locate and reconnect to proximal pivot drive 10030. In a sense, controller 3002 can remember where it left proximal pivot driver 10030. More particularly, controller 3002 can, one, evaluate the position of trigger drive 1110 when proximal pivot drive 10030 is decoupled from drive 1110 and, two, remember where proximal pivot drive 10030 is when controller 3002 is instructed to reconnect trigger 1110 with proximal pivot drive 10030. In such circumstances, controller 3002 can move the trigger drive 1110 to a position where clutch assembly 10070, for example, can reconnect proximal pivot driver 10030 to trigger drive 1110. Controller 3002 can record direction of rotation, speed of rotation, and time to motor 1102 when trigger 1110 is coupled to proximal pivot driver 10030 to detect erase and store the location of the proximal pivot actuator 10030, for example, in memory. 3010. Other parameters and algorithms may be used to determine the location of proximal pivot trigger 10030. In certain embodiments, trigger 1110 may include a sensor configured to detect when trigger 1110 is coupled to proximal pivot driver 10030. and communicating the event to controller 3002 to confirm the coupling engagement between trigger 1110 and proximal pivot drive 10030. In certain embodiments, when controller 3002 is not configured to store and access proximal pivot drive 10030, the The controller may activate motor 1102 to propel trigger drive 1110 to travel throughout its range of motion until trigger drive 1110 engages in arrangement coupled with proximal pivot drive 10030.

Referring now to Figures 151 and 165, the secure release system 3080 can react to an operator's attempt to detach cable 1042 from rod 1210 by returning surgical instrument 1010 to its initial state, for example, as soon as the operator moves. locking element 3082 from the locked configuration to the unlocked configuration. As described above, the switch 3084 may be operably coupled to the locking member 3082, so that when the locking member 3082 is moved from the locked configuration to the unlocked configuration, the switch 3084 may be moved to open circuit 3086. thereby transmitting the initial state input signal to controller 3002. Alternatively, moving switch 3084 from its locked configuration to its unlocked configuration may allow circuit 3086 to close, thereby transmitting the state input signal. for the 3002 controller.

Referring again to Fig. 168, the controller 3002, upon receiving the initial state input signal, can check the position of the trigger drive 1110 by means of sensor 3015 and can check memory 3010 for the last pivot position. end actuator and, consequently, to the last position of the proximal pivot drive 10030. If controller 3002 determines that the end actuator 1300 is in the pivot start state position and the trigger drive 1110 is positioned so that it is coupled to the proximal pivot drive 10030, the 3002 controller will do nothing and the user can remove the cable rod assembly. alternatively, controller 3002 may provide the operator with feedback that the surgical instrument 1010 is in the initial state and / or is safe to detach cable 1042 from rod 1210. For example, controller 3002 may be configured to activate a beep and / or and / or transmit a message via a screen (not shown) coupled to controller 3002 to alert the operator that the surgical instrument 1010 is in the initial state and / or is safe to detach cable 1042 from rod 1210. However, if controller 3002 determines that end actuator 1300 is not in the pivot start state position and trigger drive 1110 is positioned so that it is coupled to proximal pivot driver 10030, controller 3002 may activate motor 1102 to drive the trigger drive 1110 so as to move proximal pivot actuator 10030, which can in turn pivot end actuator 1300 relative to shall its rod 1210 back to the initial state position of articulation. Alternatively, if controller 3002 determines that end actuator 1300 is in the pivot start state position, but trigger drive 1110 is not positioned so that it is coupled to the pivot actuator. 10030, controller 3002 may activate motor 1102 to move trigger 1110 to a position where trigger 1110 is couplable to pivot drive 9. In so doing, trigger 9 may retract the element 10060 to the initial trigger state position. As described above, controller 3002 may optionally provide the operator with feedback that the surgical instrument 1010 is in its initial state and that it is safe to detach cable 1042 from rod 1210.

In certain embodiments, with reference to Fig. 169, the controller 3002, upon receiving the initial state input signal, can verify that the end actuator 1300 is in the open configuration by means of sensor 3016. Other means for determining whether 1300 end actuator is in open configuration can be employed. If controller 3002 determines that end actuator 1300 is in the open configuration, controller 3002 may proceed to restart surgical instrument 1010 in the initial state as described above. However, if controller 3002, upon receiving the initial state input signal, determines that end actuator 1300 is in the closed configuration, controller 3002 can communicate with the operator to confirm that it wishes to detach cable 1042 from the rod. 1210. This step may be a preventive step to prevent the surgical instrument 1010 from being restarted if the operator has accidentally moved locking element 3082, thereby mistakenly transmitting an initial state input signal to controller 3002 with the actuator. end 1300 in use and grasping a fabric, for example. In certain embodiments, controller 3002 may communicate with the operator by displaying a message on a screen attached to controller 3002, for example, asking the operator to return end actuator 1300 to the open configuration by pressing release element 1072. In addition, mechanical locking element 3082, the 3080 secure release system can also include an electronic lock (not shown) which can be controlled by the 3002 controller. The electronic lock can be configured to prevent the operator from separating cable 1042 from rod 1210 while the operator does not press release element 1072. If the operator does not release end actuator 1300 to the open configuration, controller 3002 will do nothing. In other embodiments, controller 3002 may alert the operator by displaying an error message or activating a beep and / or light. Conversely, if the operator releases end actuator 1300 to the open configuration, controller 3002 may restart surgical instrument 1010 as described above. If an electronic lock is used, the 3002 controller can then release the electronic lock to allow the operator to detach cable 1042 from rod 1210. In addition, the 3002 controller can then alert the operator that it is already safe to remove. cable 1042 from rod 1210 as described above.

In certain embodiments, it may be desirable to include a warning step before returning the surgical instrument 1010 to the initial state in response to an initial state input signal to give the operator a chance to resolve the accidental unlocking of the locking element. 3082. For example, controller 3002 may be configured to react to the first transmission of the initial state input signal by asking the operator to confirm whether to reset the surgical instrument 1010, for example via the screen. In certain embodiments, the operator may transmit a second initial state input signal to controller 3002 within a predetermined period of time from the first initial state input signal by locking and unlocking locking element 3082 a second time. Controller 3002 may be configured to react to the second transmission of the initial state input signal if transmitted within the predetermined period of time since the first transmission by returning the surgical instrument 1010 to the initial state as described above.

An electric motor for a surgical instrument described in the present invention can perform multiple functions. For example, an electric to multifunction motor may advance to collect a predetermined element during a firing sequence. To perform multiple functions, the multifunctional electric motor can switch between different operating states. The electric motor may perform a first function in a first operating state, for example, and may subsequently switch to a second operating state to perform a second function, for example. In various circumstances, the electric motor may drive the triggering element distally during the first operating state, for example a forward state, and may retract the triggering element proximally during the second operating state, for example a retracting state. Under certain circumstances, the electric motor may rotate in a first direction during the first operating state and may rotate in a second direction during the second operating state. For example, clockwise rotation of the electric motor advances the triggering element distally, and counterclockwise rotation of the electric motor may retract the triggering element proximally. The electric motor may be balanced, or substantially balanced, during the first and second operating states, so that the background haptic feedback, or "noise", generated by the electric motor is minimized. Although haptic feedback can be minimized during the first and second operational states, it may not be. completely eliminated under certain circumstances. In fact, this "noise" can be expected by the operator during normal operation of the surgical instrument and as such cannot consist of a feedback signal indicative of a specific condition of the surgical instrument.

Under various circumstances, the multifunction electric motor may perform additional functions during operating states. For example, during a third operating state, for example a feedback state, the electric motor may generate a haptic or tactile feedback amplified to communicate a specific condition of the surgical instrument to its operator. In other words, a multifunctional electric motor may drive a trigger element distally and proximally during a trigger sequence, for example, the first operating state and the second operating state, respectively, and may also generate an amplified haptic feedback to communicate with the surgical instrument operator, for example, during the third operating state. The haptic feedback generated during the third operating state may substantially exceed the background haptic feedback, or "noise", generated during the first and second operating states. In various embodiments, the amplified haptic feedback generated during the third operating state may constitute an operator feedback signal that is indicative of a specific condition of the surgical instrument. For example, the electric motor may generate amplified haptic feedback when a predetermined limit force is detected in the trigger element. In such embodiments, amplified haptic feedback may be a warning signal to the operator such as a warning of possible overload. In other embodiments, amplified haptic feedback may report a status update to. operator, such as a signal that the triggering element has reached the maximum distal position and / or has successfully completed a firing stroke. In various embodiments, the electric motor may oscillate between clockwise and counterclockwise rotation during the third operating state. As described herein, an electric motor mounted resonator or amplifier may oscillate with the electric motor to optimize or amplify the haptic feedback generated by the electric motor. Although the resonator may amplify haptic feedback during the third operating state, the resonator may be balanced with respect to its axis of rotation, for example, so that the haptic feedback, or "noise", remains minimized during the first and second. the second operating states.

Under various circumstances, the multifunctional electric motor may switch between different operating states. For example, the electric motor may switch from the first operating state to the second operating state to retract the triggering element from a distal position on an end actuator. In addition, the electric motor may switch to the third operating state to communicate a signal indicating a specific condition of the surgical instrument to the operator. For example, when a clinically important condition is detected, the electric motor may switch from the first operating state to the third operating state to communicate the clinically important condition to the operator. In certain embodiments, the electric motor may generate amplified haptic feedback to communicate the clinically important condition to the operator. When the electric motor switches to the third operating state, the advance of the tripping element may be paused. In various embodiments, upon receiving amplified haptic feedback, the operator may decide between (A) resuming the first operating state, or (B) initiating the second operating state. For example, when the clinically important condition is high force on the trigger element, which may be indicative of possible instrument overload, the operator may decide (A) to resume distal advance of the trigger element, or (B) take the possible overload warning into account and retract the trigger element proximally. If the operator decides to resume the first operating state despite possible instrument overload, the instrument may be at risk of failure. In many embodiments, a different electric motor may generate feedback to communicate the clinically important condition to the operator. For example, a second electric motor may generate sensory feedback, such as a sound, light and / or tactile signal, for example, to communicate the clinically important condition to the operator.

Referring now to Figure 170, an electric motor 5002 for a surgical instrument (illustrated in another section) may comprise a motor housing 5004 and a rod 5006 extending from the motor housing 5004. Although the electric motor 5002 is described in the present invention as an example, other electric motors, such as motor 1102, for example, may incorporate the teachings set forth in the present invention. Rod 5006 may be attached to a rotor (not shown) positioned within the engine compartment 5004, and rod 5006 may rotate together with the rotor. Rod 5006 may rotate in one direction during a first operating state, for example, and may rotate in a second direction during the second operating state, for example. In addition, rotating the 5002 electric motor in one direction may implement a first surgical function, and rotating the 5002 electric motor in another direction may implement a second surgical function. In various embodiments, the electric motor 5002 and / or its rod 5006 may be operably coupled to a trigger element (illustrated elsewhere), and may drive the trigger element during a trigger sequence. For example, clockwise rotation of the electric motor 5002 may drive the distal triggering element, and counterclockwise rotation of the electric motor 5002 may drive the proximal triggering element. Alternatively, counter-clockwise rotation of the electric motor 5002 may drive the distal triggering element, and clockwise rotation of the electric motor 5002 may drive the proximal triggering element. In other words, the electric motor may advance the trigger during the first operating state and may retract the trigger during the second operating state, or vice versa. In other embodiments, the electric motor 5002 may be operably coupled to a pivot mechanism (illustrated in another section) and may pivot an end actuator relative to the surgical instrument handle. For example, the 5002 clockwise electric motor rotation may pivot the end actuator in a first direction, and the 5002 clockwise electric motor rotation may pivot the end actuator in a second direction.

In various embodiments, a resonator or amplifier 5020 may be mounted on rod 5006 of electric motor 5002. A washer 5008 may hold resonator 5020 relative to shaft 5006, for example. In addition, resonator 5020 may be attached to axis 5006 so that resonator 5020 rotates and / or moves with axis 5006. In various embodiments, resonator 5020 and / or several portions thereof may be attached to axis 5006 and / or may be fully conformed to it, for example.

Referring now to Figures 170 to 172, resonator 5020 may comprise a body 5022 comprising a mounting hole 5040 (Figures 171 and 172) for receiving rod 5006 (Figure 170). For example, rod 5006 may extend through mounting hole 5040 when resonator 5020 is attached to rod 5006. Mounting hole 5040 and rod 5006 may be coaxial, for example. In various embodiments, the resonator body 5022 may be balanced and / or symmetrical with respect to the mounting hole 5040, and the center of mass of the body 5022 may be positioned along the central axis of the mounting hole 5040, for example. In such embodiments, the center of mass of the body 5022 may be positioned along the axis of rotation of the rod 5006, and the body 5022 may be balanced relative to the rod 5006, for example.

In various circumstances, the resonator 5020 may further comprise a pendulum 5030 extending from the body 5022. For example, the pendulum 5030 may comprise a spring or rod 5032 extending from the body 5022 and a weight 5034. extending from the spring 5032. Under certain circumstances, the resonator 5020 and / or its 5030 pendulum may be designed to have an optimized natural frequency. As described in the present invention, an optimized natural frequency can amplify the feedback generated when the electric motor 5002 oscillates between clockwise and counterclockwise rotations, for example during the third operating state. In various circumstances, the resonator 5020 may further comprise a counterweight 5024 extending from the body 5022. Referring primarily to Figure 172, the pendulum 5030 may extend from the body 5022 in a first X direction, and the counterweight 5024 may extend from the body 5022 in a second Y direction. The second Y direction may be different and / or opposite to the first X direction, for example. In various embodiments, counterweight 5024 may be designed to balance the mass of pendulum 5030 relative to mounting hole 5040 (Figures 171 and 172) through body 5022. For example, the shape and material of counterweight 5024 may be selected from such that the center of mass 5028 (Figure 172) of the entire resonator 5020 is positioned along the central axis of the mounting hole 5040 of the body 5022 and thus along the axis of rotation of the resonator 5020 and the rod 5006 ( Figure 170).

The 5028 CMR resonator center of mass 5028 can be determined from the following relationship: CMr = - (CMb - mB + CMc - mc + CMS ms + CMW mw) mR ϊ when mR is the total mass of the 5020 resonator , CMB is the center of mass of 5022 body, CMc is the center of mass of counterweight 5024, CMS is the center of mass of spring 5032, CMw is the center of mass of weight 5034, mB is body mass of 5022, mcé the counterweight mass 5024, ms is the spring mass 5032, and mw is the weight weight 5034. When the center of mass of the body 5022 is positioned along the central axis of the mounting hole 5040 and the resonator 5020 comprises thickness and uniform density, the resonator 5020 may be balanced with respect to the central axis of the mounting hole 5040 according to the following simplified relationship: where c is the counterweight area 5024, As is 5032 and Aw spring area is 5034 weight area.

In various circumstances, when the resonator 5020 center of mass 5028 is centered along the central axis of the mounting hole 5040 and thus along the axis of rotation of the rod 5006 (Figure 170), the resonator 5020 can be balanced relative to its axis of rotation. In such embodiments, once resonator 5020 is balanced, background haptic feedback may be minimized during the first and second operating states. In various circumstances, the resonator 5020 may include more or less components. The various components of the resonator 5020 may be balanced such that the center of mass 5028 of the entire resonator 5020 is balanced with respect to the axis of rotation of the resonator 5020. Additionally, in some embodiments, the material and / or density of the various components. 5020 resonator may differ from various other components of the 5020 resonator. The material and / or density of the various components may be selected to balance the mass of the 5020 resonator with respect to the axis of rotation and / or to optimize the natural frequency of the 5020 resonator. and / or its 5030 pendulum as described herein.

Still with reference to Figures 170 to 172, spring 5032 of pendulum 5030 may be deflectable and / or deformable. For example, rotation of resonator 5020 may cause pendulum spring 5032 to deflect. Spring 5032 may deflect with the initial rotation of resonator 5020 and may remain deflected as long as resonator 5020 continues to rotate in the same direction and at the same speed of rotation. As spring deflection 5032 remains at least substantially constant during continuous and substantially rotation Resonator constant 5020 in one direction, background haptic feedback can be minimized during the first and second operating states. When the direction of rotation of the resonator 5020 changes, the spring 5032 may deflect in a different direction. For example, spring 5032 may deflect in a first direction when resonator 5020 rotates clockwise and may deflect in a second direction when resonator 5020 rotates counterclockwise. The second direction may be opposite to the first direction, for example. In other words, as the electric motor 5020 oscillates between clockwise and counterclockwise rotation, the spring 5032 may deflect repeatedly in different directions in response to changes in the direction of rotation. Repeated deflections of the 5032 spring in opposite directions, ie deflective oscillations, can generate amplified haptic feedback. For example, the haptic feedback generated by the oscillating resonator 5020, which is driven by the oscillating motor 5002 (Figure 170), may be sufficiently amplified so that it signals the operator indicating a specific condition of the surgical instrument. The haptic feedback generated by the oscillating resonator 5020 and the motor 5002 may be substantially greater than the background haptic feedback generated during the sustained rotation of the resonator 5020 and the motor 5002 in the same direction.

In use, the rotation of the pendulum 5030 may generate a centrifugal force at weight 5034, and the spring 5032 of the pendulum 5030 may lengthen in response to the centrifugal force. In various embodiments, the resonator 5020 and / or motor 5002 may comprise a retainer for limiting radial elongation of spring 5032. Such retainer may retain pendulum 5030 within a predefined radial limit 5050 (Figure 170). In various circumstances, the centrifugal force exerted on the weight 5034 during the third operating state may be insufficient to extend the pendulum 5030 beyond the preset radial limit 5050.

In various circumstances, the resonator 5020 may be designed to amplify the haptic feedback generated by the electric motor 5002 (Figure 170) during the third operating state. In other words, the resonator 5020 can be designed so that the natural frequency of resonator 5020 is optimized, and the electric motor 5002 can oscillate at a frequency that drives the resonator 5020 to oscillate at its optimized natural frequency. In various embodiments, the optimized natural frequency of the resonator 5020 may be related to the oscillation frequency of the electric motor 5002. The optimized natural frequency of the resonator 5020 may coincide with and / or correspond to the oscillation frequency of the electric motor 5002, for example. In certain embodiments, the optimized natural frequency of the resonator 5020 may be compensated for by the oscillating frequency of the electric motor 5002, for example.

In certain embodiments, the natural frequency of resonator 5020 may be approximated by the natural frequency of pendulum 5030. For example, substantially non-oscillating components may be ignored in approximation of natural frequency. In certain embodiments, body 5022 and counterweight 5024 may be considered to be substantially non-oscillating components of resonator 5020 and thus may be assumed to have negligible or no effect on the natural frequency of resonator 5020. Accordingly, the oscillating component of resonator 5020, for example, the 5030 pendulum may be designed to amplify the haptic feedback generated by the electric motor 5002 (Figure 170) during the third operating state. When the spring mass 5032 is substantially smaller than the weight weight 5034, the natural frequency of the pendulum 5030 (fp) may be approximated by the following relation: where ks is the spring constant of elasticity 5032 and mw is the weight mass 5034 The spring elasticity constant 5032 (ks) can be determined from the following relationship: where Es is the spring elastic modulus 5032, / s is the second spring moment of inertia 5032, and Ls is the spring length 5032. In various embodiments, the elasticity constant (ks) of the 5032 spring and / or the weight mass 5034 (mw) may be selected such that the natural frequency of the pendulum 5030 (fp) is related to the motor oscillation frequency. 5002 during the third operational state. For example, the natural frequency of the pendulum 5030 may be optimized by varying the spring constant 5032 and / or the weight mass 5034.

Still with reference to Figures 170 to 172, the natural frequency of the resonator 5020 and / or its 5030 pendulum can be optimized to a frequency that provides the operator with optimal haptic feedback. For example, the natural frequency of the 5020 resonator can be optimized to between approximately 50 Hz and approximately 300 Hz to improve operator feedback. In some embodiments, the natural frequency of the resonator 5020 may be optimized to a frequency below about 50 Hz, for example, and in other embodiments, the resonator 5020 may be optimized to a frequency greater than approximately 300 Hz, for example. In addition, the 5002 electric motor (Figure 170) can oscillate at a frequency that drives the resonator 5020 so that it oscillates at or near its own frequency. In certain embodiments, the engine. The 5002 can trigger the 5020 resonator to oscillate within a range of amplifying frequencies, including the natural frequency of the 5020 resonator.

In various embodiments, the oscillating frequency of the electric motor 5002 may coincide with and / or correspond to the natural frequency of the resonator 5020 to drive the resonator 5020 at or near its natural frequency. In certain embodiments, the oscillating frequency of the electric motor 5002 may be close to or equal to the natural frequency of the resonator 5020, and in other embodiments, the oscillating frequency of the electric motor 5002 may be compensated from the natural frequency of the resonator 5020. In various embodiments, the oscillating frequency of the electric motor 5002 may be optimized to match the natural frequency of the resonator 5020. In addition, in certain embodiments, the oscillating frequency of the electric motor 5002 and the natural frequency of the resonator 5020 may be chosen, cooperatively designed and / or optimized to amplify the haptic feedback generated by the 5002 electric motor during the third operating state.

[00407] Referring primarily to Figure 170, the electric motor 5002 can generate amplified haptic feedback when the electric motor 5002 oscillates between the clockwise and counterclockwise direction during the third operating state. Additionally, rotation of the electric motor 5002 during the first and second operating states may drive the trigger element (illustrated in another section) during a trigger stroke. For example, rotation of the electric motor 5002 clockwise may advance the triggering element distally, and counterclockwise rotation of the electric motor 5002 may retract the triggering element proximally. Accordingly, when the electric motor 5002 oscillates between clockwise and counterclockwise direction, the distal end of the trigger element may move between a slightly more distal position and a slightly more proximal position. However, the electric motor 5002 may have significantly reduced travel so that oscillations of the electric motor 5002 during the third operating state move the distal end of the trigger element by a non-significant and / or imperceptible distance. In various embodiments, the gear ratio may be from about 200: 1 to about 800: 1, for example. In certain embodiments, the triggering element may remain stationary during the third operating state. For example, a gap between the motor 5002 and the distal end of the triggering element may absorb the oscillations of the electric motor 5002. For example, with reference to Figures 102 to 104, there may be such a gap between the triggering element 10060 and the busbar. In various circumstances, the scalpel bar 10066 may comprise a guide tab 10065 extending into a drive slot 10064 defined in trigger element 10060, wherein the extent of drive slot 10064 between the distal end 10067 and proximal end 10069 may be longer than guide tab 10065. In use, sufficient displacement of trigger element 10060 must occur before distal end 10067 or proximal end 10069 contacts guide tab 10065. .

Referring now to Figures 173 to 176, the electric motor 5002 (Figures 173 and 174) may be positioned within a cable 5101 (Figure 173) of a surgical instrument 5100 (Figure 173). In various embodiments, a resonator or amplifier 5120 may be mounted to rod 5006 of electric motor 5002. Rod 5006 may be attached to the rotor (not shown) positioned within motor housing 5004, and rod 5006 may rotate together with the rotor. Washer 5008 may hold resonator 5120 relative to rod 5006, for example. In addition, resonator 5120 may be attached to rod 5006 so that resonator 5120 rotates and / or moves with rod 5006. In some circumstances, a switch may be used to transmit rotational motion of rod 5006 to resonator 5120, for example. In various embodiments, the resonator 5120 and / or several portions thereof may be attached to the rod 5006 and / or may be integrally shaped therewith, for example.

Referring primarily to Figures 175 and 176, similar to resonator 5020, resonator 5120 may comprise a body 5122 comprising a mounting hole 5140 for receiving rod 5006 (Figures 173 and 174) of electric motor 5002 ( Figures 173 and 174). For example, rod 5006 may extend through mounting hole 5140 when resonator 5120 is attached to rod 5006. In various embodiments, body 5122 of resonator 5120 may be balanced and symmetrical with respect to mounting hole 5140, and the center of mass of body 5122 may be positioned along the central axis of mounting hole 5140, for example. In addition, the center of mass of body 5122 may be positioned along the axis of rotation of resonator 5120 and rod 5006, so that body 5122 is balanced with respect to rod 5006, for example.

In various embodiments, the resonator 5120 may further comprise a pendulum 5130 extending from the body 5122. For example, the pendulum 5130 may comprise a spring or rod 5132 extending from the body 5122, and a 5134 extending from spring 5132. In certain embodiments, spring 5132 may extend along an axis defining at least one contour between body 5122 and weight 5134. Spring 5132 may curl , bending, twisting, deflecting, intersecting and / or zigzagging, for example. The shape of the spring 5132 may affect its elasticity constant, for example. In at least one embodiment, spring 5132 may form a first loop 5137 on a first side flank of resonator 5120 and a second loop 5138 on a second side flank of resonator 5120. An intermediate portion 5139 of spring 5132 may traverse from first to second. second loop 5137, 5138, for example. Similar to spring 5032, spring 5132 may be deflectable, and may deflect in response to rotations and / or oscillations of resonator 5120. In addition, in certain embodiments, weight 5134 may include a pin 5136, which may provide mass. add to weight 5134, for example. As described in the present invention, the weight mass 5134, in addition to the shape and properties of the spring 5132 may be selected to optimize the natural frequency of the pendulum 5130 and thus the natural frequency of the entire resonator 5120, for example.

Still with reference to Figures 175 and 176, the resonator 5120 may further comprise a counterweight 5124 extending from the body 5122. In certain embodiments, a pin 5126 may extend from the counterweight 5124 and may provide additional mass to the body. counterweight 5124, for example. The pendulum 5130 may extend from the body 5122 in a first X direction, and the counterweight 5124 may extend from the body 5122 in a second Y direction. The second Y direction may be different and / or opposite to the first direction X, for example. In various embodiments, counterweight 5124 may be designed to balance the mass of pendulum 5130 relative to mounting hole 5140 through body 5120. For example, the shape and material of counterweight 5124 may be chosen such that the center of mass 5128 of resonator 5120 is positioned along the central axis of mounting hole 5140 of body 5122, and thus along the axis of rotation A (Figure 173) of resonator 5120.

Similar to resonator 5020, resonator 5120 may be designed to amplify the haptic feedback generated by the electric motor 5002 (Figures 173 and 174) during the third operating state. In other words, the 5120 resonator can be designed so that the 5120 resonator's natural frequency is optimized, and the 5002 electric motor can oscillate at a frequency that drives the 5120 resonator to oscillate at or near its optimized natural frequency. For example, the electric motor 5002 may drive resonator 5120 to oscillate within a range of amplifying frequencies, including the natural frequency of resonator 5120. In certain embodiments, the natural frequency of resonator 5120 may be approximated by the natural frequency of pendulum 5130. In such embodiments, the 5130 pendulum may be designed to amplify the haptic feedback generated by the electric motor 5002 during the third operating state. For example, the 5130 pendulum may be designed to have an optimized natural frequency, and the electric motor 5002 may drive the resonator 5120 to oscillate at or near the optimized natural frequency of the 5130 pendulum to amplify the haptic feedback generated. during the third operational state.

Referring now to Figures 177 to 180, the electric motor 5002 (Figures 177 and 178) may be positioned within the cable 5101 (Figure 177) of the surgical instrument 5100 (Figure 177). In various embodiments, a resonator or amplifier 5220 may be mounted to rod 5006 (Figure 170) of electric motor 5002. Rod 5006 may be attached to the rotor (not shown) positioned within housing 5004, and rod 5006 may rotate in set with the rotor. Washer 5008 (Figure 170) may hold resonator 5220 relative to rod 5006, for example. In addition, resonator 5220 may be attached to rod 5006 so that resonator 5220 rotates and / or moves with rod 5006. In various embodiments, resonator 5220 and / or several portions thereof may be attached to rod 5006 and / or may be fully conformed to it, for example.

Referring primarily to Figures 179 and 180, similar to resonators 5020, 5120, resonator 5220 may comprise a body 5222 comprising a mounting hole 5240 for receiving electric motor rod 5006 (Figures 176 and 177) 5002 (Figures 176 and 177). For example, rod 5006 may extend through mounting hole 5240 when resonator 5220 is attached to rod 5006. In various embodiments, body 5222 of resonator 5220 may be balanced and symmetrical with respect to mounting hole 5240, and the center of mass of body 5222 may be positioned along the central axis of mounting hole 5240, for example. In addition, the center of mass of the body 5222 may be positioned along the axis of rotation of the rod 5006, so that the body 5222 is balanced with respect to the rod 5006, for example.

In various embodiments, the resonator 5220 may additionally comprise a pendulum 5230 extending from the body 5222. For example, the pendulum 5230 may comprise a spring or rod 5232 extending from the body 5222, and a 5234, extending from the spring 5232. In various embodiments, the spring 5232 may bend, curl, bend, twist, deflect, criss-cross and / or zigzag between body 5222 and In certain embodiments, weight 5234 may include a pin 5236, which may provide additional mass to weight 5234, for example. As described in the present invention, the weight mass 5234, in addition to the shape and properties of the spring 5232 may be selected to optimize the natural frequency of the 5230 pendulum and thus the natural frequency of the entire resonator 5220, for example.

In various embodiments, a retainer may limit or retain the radial elongation of spring 5232 and / or pendulum 5230 during rotation and / or oscillation. For example, a retainer may comprise a barrier or retaining wall around at least a portion of the pendulum 5230. During the first and second operating states, for example, spring 5232 may deform and extend weight 5234 toward which may prevent further elongation of spring 5232. For example, with reference mainly to Figures 179 and 180, resonator 5220 may comprise a retainer 5244. Retainer 5244 may comprise a first leg 5246 which may be attached to the body. 5222 and / or a counterweight 5224 of the resonator 5220. The first leg 5246 may be attached to the resonator 5220 and may be formed as an integral part with and / or attached thereto, for example. Retainer 5244 may additionally comprise a second leg or barrier leg 5248, which may extend beyond the weight 5234 of pendulum 5230 when spring 5232 is not deformed. Barrier leg 5248 may define radial limit 5050 beyond which the 5230 pendulum may not extend. In other words, barrier leg 5248 may block radial extension of pendulum 5230. For example, barrier leg 5248 may be out of contact with pendulum 5230 when spring 5232 is not deformed since pendulum 5230 may be positioned within radial limit 5050. In other words, a gap 5249 (Figure 180) may be defined between weight 5234 and barrier leg 5248 when spring 5234 is not deformed. Additionally, the barrier leg 5248 may be out of contact with the pendulum 5230 in the oscillation of the resonator 5220 during the third operating state. For example, the centrifugal force on the swinging pendulum 5230 during the third operating state may be insufficient to extend the weight 5234 of the 5230 pendulum beyond the preset radial limit 5050 of the 5002 engine. Although the span 5249 may be reduced during the third operating state, weight 5234 may remain out of contact with barrier leg 5248, for example. In such embodiments, the natural frequency of pendulum 5230 may remain substantially unaffected by retainer 5244 during the third operating state.

In various embodiments, when the resonator 5220 rotates during the first and second operating states, the pendulum spring 5232 may be substantially deformed and / or elongated. For example, rotation of the resonator 5220 may generate a centrifugal force on spring 5232, and spring 5232 may elongate in response to centrifugal force. In certain embodiments, the weight 5234 of the pendulum 5230 may move in a contiguous contact with the barrier leg 5248 of retainer 5244. In such embodiments, the barrier 5248 may limit or retain additional radial elongation of spring 5232 during the first and the second operating states.

In various embodiments, retainer 5244 may be substantially rigid such that retainer 5244 resists deformation and / or elongation. In certain embodiments, retainer 5244 may be integrally conformed to and resonated with resonator 5220. In some embodiments, retainer 5244 may be attached to motor 5002 (Figures 177 and 178). For example, retainer 5244 may be fixed relative to rotor and / or rod 5006 (Figures 177 and 178) of motor 5002 and may rotate and / or move therewith. In such embodiments, retainer 5244 may rotate with resonator 5220, for example. In various embodiments, retainer 5244 may be attached to motor 5002 and / or may be integrally shaped therewith, for example. In certain embodiments, retainer 5244 may remain stationary relative to the swivel rod 5008 and / or resonator 5220, for example.

Still referring to Figures 179 and 180, the resonator 5220 may further comprise a counterweight 5224 extending from the body 5222. In certain embodiments, a pin 5226 may extend from the counterweight 5224 and may provide additional mass to the counterweight. 5224, for example. Pendulum 5230 may extend from body 5222 in a first direction, and counterweight 5224 may extend from body 5222 in a second direction. The second direction may be different and / or opposite to the first direction of the 5230 pendulum, for example. In various embodiments, counterweight 5224 may be designed to balance the mass of pendulum 5230 and retainer 5244 with respect to mounting hole 5240 through resonator body 5220. For example, the shape and material of counterweight 5224 may be chosen. such that the center of mass 5228 of the resonator 5220 is positioned along the central axis of the mounting hole 5240 of the body 5222, and thereby along the axis of rotation A (Figure 177) of the rod 5008 (Figures 177 and 178) and the resonator 5220.

Similar to resonators 5020, 5120, resonator 5220 may be designed to amplify the haptic feedback generated by the electric motor 5002 during the third operating state. In other words, the 5220 resonator can be designed so that the natural frequency of the 5220 resonator is optimized, and the 5002 electric motor can oscillate at a frequency that drives the 5220 resonator to oscillate at or near its optimized natural frequency. For example, the electric motor 5002 may drive resonator 5220 to oscillate within a range of amplifying frequencies, including the natural frequency of resonator 5220. In certain embodiments, the natural frequency of resonator 5220 may be approximated by the natural frequency of pendulum 5230. In such embodiments, the 5230 pendulum may be designed to amplify the haptic feedback generated by the electric motor 5002 during the third operating state. For example, the 5230 pendulum may be designed to have an optimized natural frequency, and the electric motor 5002 may drive the 5220 resonator to oscillate at or near the optimized natural frequency of the 5230 pendulum to amplify the generated haptic feedback. during the third operational state.

Referring now to Figure 181, the electric motor 5002 may be positioned within the cable 5101 of the surgical instrument 5100. In various embodiments, a resonator or amplifier 5320, similar to resonator 5220, may be mounted to the rod. 5006 (Figure 170) of the electric motor 5002. Resonator 5320 may comprise a body 5322, comprising a mounting hole 5340, for example, a pendulum 5330, comprising a spring 5332, a weight 5334 and a pin 5336, for example. and a counterweight 5324 comprising a pin 5326, for example. In various embodiments, the resonator center of mass 5320 may reside along the axis of rotation A, and the shape and material of the resonator 5230 may be chosen to optimize its natural frequency.

In various embodiments, a retainer ring 5344, similar to retainer 5244, may limit or retain radial elongation of spring 5332 and / or pendulum 5230 during rotation and / or oscillation. In various embodiments, retainer ring 5344 may comprise a barrier or retaining wall around at least a portion of the pendulum 5330. In certain embodiments, retainer ring 5344 may comprise a ring around resonator 5320, for example. In various embodiments, retaining ring 5344 may be attached to the electric motor 5002, such as the motor housing 5004, for example. In other embodiments, retaining ring 5344 may be attached to cable 5101 of surgical instrument 5100, for example. In still other embodiments, retainer ring 5344 may be attached to the rotor and / or rod 5006 (Figure 170) of the electric motor 5002 so that retainer ring 5344 rotates with rod 5006 and / or resonator 5320, for example. . In various embodiments, retaining ring 5344 may be substantially rigid so as to resist deformation and / or elongation.

Retaining ring 5344 may define the radial limit beyond which the pendulum 5330 may not extend. For example, the pendulum 5330 may fall out of contact with the retaining ring 5344 when the spring 5332 is not deformed. In other words, a gap can be defined between the weight 5334 of the pendulum 5330 and the retaining ring 5344 when the spring 5334 is not deformed. Additionally, the pendulum 5330 may be out of contact with the retaining ring 5344 in the resonator oscillation 5320 during the third operating state. For example, the centrifugal force on oscillating pendulum 5330 during the third operating state may be insufficient to extend the weight 5334 of pendulum 5330 beyond the preset radial limit. While the gap defined between weight 5334 and retainer ring 5344 may be reduced during the third operating state, weight 5334 may remain out of contact with retainer ring 5344, for example. In such embodiments, the natural frequency of the pendulum 5330 may remain substantially unaffected by retainer 5344 during the third operating state.

In various embodiments, when the resonator 5320 rotates during the first and second operating states, the pendulum 5330 spring 5332 may be substantially deformed and / or elongated. For example, rotation of the resonator 5320 may generate a centrifugal force on spring 5332, and spring 5332 may lengthen in response to centrifugal force. In certain embodiments, the weight 5334 of the pendulum 5330 may move towards a contiguous contact with the retaining ring 5344. In such embodiments, the retaining ring 5344 may limit or retain additional radial elongation of spring 5332 during the first and second operational states. . In various embodiments, the surgical instrument 5100 (Figure 177) may comprise a control system (not shown) which may control the electric motor 5002. In various embodiments, the control system may comprise one or more computers, processors , microprocessors, circuits, circuit elements (for example, transistors, resistors, capacitors, inductors and the like), integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate arrangement (FPGA), logic gates, registers, semiconductor device, integrated circuits, integrated microcircuits and / or integrated circuit assemblies, for example. The control system may start, pause, resume and / or interrupt various operating states of electric motor 5002. For example, electric motor 5002 may perform a first function, for example by advancing the trigger element distally during the first operating state. and may subsequently switch to the second operating state to perform a second function, for example by retracting the trigger element proximally. The triggering element may be advanced distally to section a predefined length of fabric, and / or to eject and / or form a predefined number of staples (illustrated in another section), for example. In various embodiments, when the predefined tissue extension has been sectioned and / or the predefined number of staples has been ejected and / or formed, the control system may control the electric motor 5002 to switch to the second operating state. The element and firing may be retracted proximally during the second operating state to prepare it for a subsequent firing stroke, for example. In certain embodiments, the electric motor 5002 may switch to the third operating state before the triggering element completes the predefined transection length and / or ejection and / or formation of the predefined staple number. For example, the electric motor 5002 may switch prematurely from the first operating state to the third operating state to communicate a signal indicative of a condition of the surgical instrument to the operator. In various embodiments, the electric motor 5002 may switch to the third operating state to communicate a possible overload alert to the operator. In other embodiments, amplified haptic feedback may communicate a status update to the operator, such as a signal that the triggering element has reached the maximum distal position and / or successfully completed a triggering course.

[00426] In various embodiments, the 5100 surgical instrument may be designed to overcome a maximum limit force to sever tissue. When the force applied to the triggering element exceeds the maximum limit force, the 5100 surgical instrument may not function as desired. For example, when the triggering element attempts to section thicker and / or resistant fabric, the thicker and / or resistant fabric may exert a force on the triggering element that exceeds the maximum limit force. Accordingly, the triggering element may not be able to section thicker and / or resistant fabric. In such embodiments, the electric motor 5002 may switch to a third operating state to alert the operator to the possibility of overload and / or failure of the surgical instrument 5100. In various embodiments, the surgical instrument 5100 may comprise a sensor (not shown). . The sensor may be positioned on the end actuator (illustrated in another section), for example, and may be configured to detect the force applied to the trigger element during the trigger sequence. In certain embodiments, the sensor and control system may be in signal communication. In such embodiments, when the force detected by the sensor exceeds the maximum limit force, the control system may switch electric motor 5002 to the third operating state. In the third operating state as described herein, the advance of the tripping element may be paused and the electric motor may generate an amplified haptic feedback to communicate the possible overload alert to the operator.

In response to amplified haptic feedback, the operator may decide whether to resume the first operating state or start the second operating state. For example, the operator may resume advance of the trigger element distally, that is, operate the surgical instrument in the operating state with alert, or take the possible overload alert into account and retract the trigger element proximally, or that is, operate the surgical instrument in a modified operating state. If the operator decides to operate the surgical instrument in the alert operating state, the 5100 surgical instrument may be at risk of failure. In various embodiments, the surgical instrument 5100 may comprise an input key (not shown), such as a plurality of lever (s) and / or buttons (for example). In various embodiments, the input switch may be in signal communication with the control system. The operator can control the surgical instrument by performing inputs through the input switch. For example, the operator may select a first input key button to resume the trigger element advance, that is, enter the alerted operating state, or select a second input key button to retract the trigger element, or that is, enter the modified operating state. In various embodiments, the operator may select an additional button and / or lever to further select a different operating state. . Although the 5100 surgical instrument may fail when operated in the alert operating state, the 5100 surgical instrument operator may decide that the risk of failure is less important than the need and / or urgency of the surgical function. For example, when time is of the essence, the operator may decide that the risk of instrument failure is less important than the critical need to complete (or attempt to complete) surgical transection and stapling without delay. In addition, by allowing the operator to determine the course of action taken, the operator's holistic knowledge can be applied to the surgical procedure, and the operator is less likely to be confused and / or frustrated with the 5100 surgical instrument.

[00429] In various embodiments, a different motor may generate feedback to communicate with the operator. For example, a first motor may drive the trigger element during a firing sequence, and a second motor may generate feedback. In various embodiments, the second mechanism may generate sensory feedback, such as a sound, light and / or tactile signal to communicate with the operator. Moreover, in certain embodiments, the control system can control the multiple motors of the surgical instrument.

Referring primarily to Figure 180, a method of operating a surgical system or surgical instrument may include a plurality of operating states of the surgical instrument. For example, the surgical instrument may first operate in an initial operating state 5402, and may subsequently operate in one of the secondary operating states 5412 or 5414. The secondary operating state may be an alert operating state 5412, for example, or a modified operating state 5414, for example. When the surgical instrument operates in the operational state. 5402, an initial surgical function can be initiated at step 5404. The initial surgical function can be one or more of several surgical instrument functions, such as pinching tissue between the mandibles of an end actuator, articulating the end actuator, advance trigger element, retract trigger element, open end actuator jaws and / or repeat and / or combine various function (s), for example. After initiating the initial surgical function, the surgical instrument may detect one of the surgical instrument at step 5406. For example, when the initial surgical function is firing element advancement, a sensor may detect a clinically important condition, such as a force on the advanced firing element that exceeds the limit force, for example.

Referring still to Figure 180, in response to a detected condition, the surgical instrument may pause the initial surgical function at step 5408. Additionally, at step 5410 the surgical instrument may provide feedback to the surgical instrument operator. The feedback may be a feedback, such as a sound, light and / or tactile signal, for example. In certain embodiments, a first motor may pause initial surgical function and a second motor may generate sensory feedback. Alternatively, as described herein, a multifunctional electric motor, such as the electric motor 5002, may switch from the first operating state, or forward state, to the third operating state, or feedback state, where the electric motor oscillates to generate amplified haptic feedback. When the multifunctional electric motor oscillates to generate amplified haptic feedback, the advance and / or retraction of the trigger element may be paused and / or reduced to an insignificant and / or inconspicuous amount due to the high gear ratio between the electric motor and the motor. firing element. In such embodiments, wherein the multifunction motor switches from the first operating state to the third operating state, the pause of the initial surgical function at step 5408 and the feedback to the operator at step 5410 may occur simultaneously or substantially simultaneously, for example.

In certain embodiments, after the surgical instrument communicates feedback indicative of a specific condition to the operator, the operator may determine how to proceed. For example, the operator may decide between a plurality of possible operating states. In various embodiments, the operator may decide to enter an alerted operating state 5412 or a modified operating state 5414. For example, still with reference to Figure 180, the operator may select the initial surgical function at step 5416, or may select a surgical function modified in step 5418. In various embodiments, the operator may use a key, button and / or lever, for example, to select one of the secondary operating states. If the operator selects the surgical function beginning at step 5416, the surgical instrument may resume the surgical function beginning at step 5418. If the operator selects the modified surgical function at step 5420, the surgical instrument may initiate the modified surgical function at step 5422.

Figures 183 to 192 illustrate various embodiments of an apparatus, system and method for absolute position detection in a rotary or linear drive endocortor. Microcontroller-controlled endocortors require position and velocity values to properly control articulation, firing, and other surgical functions. In the past, values were obtained through the use of rotary encoders attached to the drive motors, which may allow the microcontroller to infer position by counting the number of progressive and regressive steps taken by the motor. It is preferred in many circumstances to replace such a system with a compact arrangement that provides the microcontroller with a single position signal for each possible location of the drive bar or scalpel. Various exemplary implementations of such absolute position sensor arrangements for rotary or linear endocortors will now be described, in particular in conjunction with Figures 183 to 192.

Figure 183 is an exploded perspective view of a surgical instrument cable 1042 of Figure 34, showing a portion of a sensor arrangement 7002 for an absolute positioning system 7000, according to one embodiment. The handle of the surgical instrument 1042 of Figure 34 has been described in detail in conjunction with Figure 34. Accordingly, for the sake of clarity and clarity of this presentation, in addition to the description of the elements associated with sensor arrangement 7002 for an absolute positioning system 7000, this Detailed description of the surgical instrument handle 1042 of Figure 34 will not be repeated herein. Accordingly, as shown in Figure 183, the surgical instrument cable 1042 of housing 1040 operably supports a trigger drive system 1100 that is configured to apply triggering motion to the corresponding portions of the interchangeable rod assembly. 1100 may employ an electric motor 1102. In various forms, motor 1102 may be a brushed DC drive motor, with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. An 1104 battery (or "power supply" or "battery pack"), such as a Li-ion battery, for example, may be coupled to the 1042 cable to provide power, an 1106 control circuit board assembly, and finally, the motor 1102. The battery pack compartment 1104 may be configured to be releasably mounted on the cable 1042 to provide control power to the surgical instrument 1010 (Figure 33). Several battery cells connected in series can be used as the power supply to power the engine. In addition, the power supply may be replaceable and / or rechargeable.

As described above with respect to other various forms, the electric motor 1102 may include a swivel rod (not shown) which operably communicates with a gear reduction assembly 1108 which is indentation mounted with a set, or rack, of drive teeth 1112 on a longitudinally movable drive member 1110. In use, a voltage polarity provided by the battery is capable of operating clockwise electric motor 1102, wherein the voltage polarity applied to the motor The battery can be reversed to operate the 1102 counterclockwise electric motor. When the electric motor 1102 is rotated in one direction, the drive element 1110 will be driven axially in the distal direction "D". When motor 1102 is rotated in the opposite direction, drive element 1110 will be driven axially in the proximal direction "P". Cable 1042 may include a switch that can be configured to reverse the polarity applied to the electric motor 1102 by the battery. As with the other forms described in the present invention, cable 1042 may also include a sensor configured to detect the position of the driving element 1110 and / or the direction in which the driving element 1110 is being moved.

Figure 184 is a side elevational view of the cable of Figure 183 with a portion of the cable compartment removed, showing a portion of a sensor arrangement 7002 for an absolute positioning system 7000, according to one embodiment. Cable compartment 1040 of cable 1042 supports control circuit board assembly 1106, which comprises the logic and other circuit components required to implement the absolute positioning system 7000.

[00437] Figure 185 is a schematic diagram of an absolute positioning system 7000 comprising a microcontroller controlled motor control circuit arrangement 7004, comprising a sensor arrangement 7002, according to one embodiment. The electrical and electronic circuit elements associated with the absolute positioning system 7000 and / or sensor array 7002 are supported by the control circuit board assembly 1106. The microcontroller 7004 generally comprises a memory 7006 and a microprocessor 7008 (" processor ") coupled operationally. Processor 7008 controls a motor control circuit 7010 to control motor position and speed 1102. Motor 1102 is operably coupled to a sensor array 7002 and an absolute positioning sensor array 7012 to provide the microcontroller. 7004 a single position signal for each possible location of a trigger bar or scalpel of the surgical instrument 1010 (Figure 33). The single position signal is supplied to the microcontroller 7004 via a feedback element 7024. It will be understood that a single position signal may be an analog signal or a digital value based on the interface between the 7012 position sensor and the 7004 microcontroller. In an embodiment described below, the interface between position sensor 7012 and microcontroller 7004 is the standard serial peripheral interface (SPI), and the single position signal is a digital value representing the position of a sensor element 7026 during a revolution. The value representing the absolute position of the sensor element 7026 during a revolution can be stored in memory 7006. The feedback value of the absolute position of the sensor element 7026 corresponds to the position of the pivot and scalpel elements. Therefore, the absolute position feedback value of the sensor element 7026 provides control of the position feedback of the articulation and scalpel elements.

Battery 1104, or another power source, supplies power to the 7000 absolute positioning system. In addition, other 7018 sensor (s) may be provided to measure other parameters associated with the absolute positioning system 7000. One or more 7020 display indicators, which may include a sound component, may also be provided.

As shown in Figure 185, a sensor arrangement 7002 provides a single position signal corresponding to the location of the longitudinally movable drive element 1110. The electric motor 1102 may include a swivel rod 7016 operably communicating with a set. gearbox 7014 mounted in indentation with a set or rack of drive teeth 1112 (Figure 183) on the longitudinally movable drive member 1110. Sensor element 7026 may be operably coupled to gear assembly 7104 so that a The only revolution of the sensor element 7026 corresponds to some longitudinal longitudinal transfer of the longitudinally movable drive element 1110, as described in more detail below. In one embodiment, a gear and sensor arrangement may be connected to the linear actuator by means of a rack and pinion arrangement, or a rotary actuator, with a sprocket or other connection. For embodiments comprising a rotary spindle configuration. where a larger number of turns are required, a high reduction gear arrangement may be employed between the drive element and the sensor, such as a worm screw and a wheel.

According to one embodiment of the present disclosure, sensor arrangement 7002 for absolute positioning system 7000 provides a more robust position sensor 7012 for use with surgical devices. By providing a unique position value or signal for each possible actuator position, such an arrangement eliminates the need for a zero or calibrate step and reduces the possibility of negative design impacts where noisy conditions or power interruption create errors. sensor, as with conventional rotary encoder configurations.

In one embodiment, the sensor arrangement 7002 for the absolute positioning system 7000 replaces the conventional rotary encoders typically attached to the motor rotor and replaces them with a position sensor 7012, which generates a unique position signal for each rotational position in the same revolution of a sensor element associated with position sensor 7012. Thus, each revolution of the sensor element associated with position sensor 7012 is equivalent to a longitudinal linear displacement d1 of longitudinally movable drive element 1110. In other words d1 is the longitudinal linear distance over which the longitudinally movable drive member 1110 moves from point a to point b after a single revolution of a sensor element coupled to the longitudinally movable drive member 1110. Sensor arrangement 7002 may be connected through a gear reduction that causes the pos sensor 7012 completes only a single revolution for the full stroke of the longitudinally movable drive element 1110. With a suitable gear ratio, the full stroke of the longitudinally movable drive element 1110 can be represented in one revolution of the position sensor 7012.

A series of switches 7022a through 7022n, where n is an integer greater than one, may be employed alone or in combination with a gear reduction to provide a single position signal for more than one sensor revolution. The status of switches 7022a through 7022n is reported to microcontroller 7004, which applies logic to determine the single position signal, which corresponds to the linear longitudinal displacement d1 + d2 + ... dn of the longitudinally movable drive element. 1110

Thus, the absolute positioning system 7000 provides the absolute position of the longitudinally movable drive element 1110 with powering up the instrument without having to retract or advance the longitudinally movable drive element 1110 to the reset position (zero or as may be the case with conventional rotary encoders, which merely count the number of progressive and regressive steps the motor has gone through to infer the position of a device actuator, drive bar, scalpel, and the like.

In various embodiments, position sensor 7012 of sensor array 7002 may comprise one or more magnetic sensors, analog rotary sensors, such as a potentiometer, array of analog Hall effect elements, which emit a unique combination of signals or values. , among others, for example.

In various embodiments, the 7004 microcontroller can be programmed to perform various functions, such as precise control of the speed and position of the articulation and scalpel systems. Using known physical properties, the 7004 microcontroller can be designed to simulate the actual system response in the 7004 controller software. The simulated response is compared to the measured (noisy and discrete) response of the real system for a " observed, "which is used for effective feedback-based decisions. The observed response is a favorable and adjusted value that balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.

In various embodiments, the absolute positioning system 7000 may additionally comprise and / or be programmed to implement the following features. A feedback controller, which may be any feedback controller, including but not limited to: RID, state feedback, and adaptive. A power source converts the feedback controller signal into a physical input to the system, in this case, voltage. Other examples include, but are not limited to, pulse width modulated voltage (PWMed), current, and force. Motor 1102 can be a brushed direct current motor with a gearbox and mechanical connections to a joint or scalpel system. In addition to the position measured by the position sensor 7012, other sensor (s) 7018 may be provided to measure the physical parameters of the physical system. How it is a fate! digital (or connected to a digital data acquisition system), its output will have finite resolution and sampling frequency. A comparison and combination circuit may be provided for combining the simulated response with the measured response using algorithms such as, without limitation, weighted average and theoretical control loop, that trigger the simulated response in the sense of the measured response. The physical system simulation takes into account properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict what the states and outputs of the physical system will be by knowing the input.

In one embodiment, the 7004 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In one embodiment, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processing core comprising 7006 built-in memory, 256 KB single cycle flash memory, or other non-volatile memory up to 40 MFiz, a pre-fetch on temporary storage to optimize performance over 40 MFIz, 32 KB single-loop random access memory (SRAM), internal read-only memory (ROM); loaded with StelfarisWare software, 2 KB electrically erasable programmable read-only memory (EEPROM), two pulse width modulation (PWM) modules, with a total of 16 advanced PWM outputs for motion and power applications, two encoder inputs Analog Quadrature (QEI), two 12-bit 12-channel analog-to-digital (ADC) converters, and other features that are readily available on the product datasheet. Other microcontrollers can be immediately replaced for use in the 7000 absolute positioning system. Accordingly, the present disclosure should not be limited in this context.

[00448] In one embodiment, the 7010 driver may be an A3941, available from Aliegro Microsystems, Inc. The A3941 7010 driver is an all-bridge controller for use with metal-oxide-semiconductor (MOSFET) field effect transistors. power, external, N-channel designed for inductive loads such as brushed DC motors. The 7010 driver comprises a single charge pump regulator, provides full port (> 10 V) drive for batteries up to 7 V and allows ο A3941 to operate with a reduced door drive up to 5.5 V. A capacitor input control can be employed to supply the voltage exceeding that supplied by the battery required for the N-channel MOSFETs. An internal charge pump for top-side drive enables direct current operation (100% duty cycle). The entire bridge can be triggered in fast or slow fall modes using diodes or synchronized rectification. In slow fall mode, recirculation of the current can be by FET from above or below. Power FETs are protected from the shoot-through effect by programmable dead-time resistors. Integrated diagnostics provide indication of undervoltage, overtemperature, and power bridge failures and can be configured to protect power MOSFETs in most short circuit conditions. Other motor controllers may be immediately replaced for use in the 7000 absolute positioning system. Accordingly, the present disclosure should not be limited in this context.

Having described a general architecture for implementing various embodiments of an absolute positioning system 7000 for a sensor array 7002, the description now turns to Figures 186 to 192 for a description of one embodiment of an arrangement. Absolute Positioning System 7000. In the embodiment illustrated in Figure 186, sensor arrangement 7002 comprises a magnetic position sensor 7100, a bipolar magnet sensing element 7102, a magnet holder 7104, which rotates each full stroke of the longitudinally movable drive member 1110 (Figures 183 to 185) and a gear assembly 7106 to provide gear reduction. A structural member, such as a bracket 7116, is provided to support gear assembly 7106, magnet bracket 7104, and magnet 7102. Magnetic position sensor 7100 comprises one or more magnetic sensing elements, such as Flall elements, and It is positioned next to magnet 7102. Consequently, as magnet 7102 rotates, the magnetic sensing elements of the magnetic position sensor 7100 determine the absolute angular position of the magnetic element 7102 during a revolution.

In various embodiments, any number of magnetic sensing elements may be employed in the 7000 absolute positioning system, such as magnetic sensors classified according to their ability to measure total magnetic field or vector components of magnetic field. . The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnoresistance, giant magnetorresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others. [00451] In the embodiment illustrated, gear assembly 7106 comprises a first gear gear 7108 and a second gear 7110 in indentation to provide a gear ratio connection. 3: 1. A third gear 7112 rotates around the rod 7114. The third gear is in indentation with the longitudinally movable drive element 1110, and rotates in a first direction according to the. longitudinally movable drive 1110 advances in distal direction D (Figure 183), and rotates in a second direction as longitudinally movable drive element 1110 retracts in proximal direction P (Figure 183). The second gear 7110 rotates around the same rod 7114 and therefore the rotation of the second gear 7110 around the rod 7114 corresponds to the longitudinal translation of the longitudinally movable drive member 1110. Thus, a complete stroke of the longitudinally movable drive member 1110 either in the distal or proximal direction, D, P, corresponds to three rotations of second gear 7110 and a single rotation of first gear 7108. Since magnet holder 7104 is coupled to first gear 7108, magnet holder 7104 completes one rotation with each full stroke of the longitudinally movable drive member 1110.

Figure 187 is an exploded perspective view of sensor array 7002 for absolute positioning system 7000 showing a control circuit board assembly 1106 and relative alignment of sensor array elements 7002 according to a modality. Position sensor 7100 (not shown in this view) is supported by a position sensor holder 7118, defining an aperture 7120 suitable for holding position sensor 7100 in precise alignment with a rotating magnet 7102 below it. Attachment 7120 attaches to bracket 7116 and control circuit board assembly 1106 and remains stationary as magnet 7102 rotates with magnet bracket 7104. A center point 7122 is coupled to first gear assembly 7108 / bracket magnet 7104.

Figures 188 to 190 show additional views of sensor arrangement 7002, according to one embodiment. In particular, Figure 188 shows the entire sensor array 7002 positioned in operational mode. Position sensor bracket 7118 is located below control circuit board assembly 1106 and encapsulates magnet bracket 7104 and magnet 7102. Figure 189 shows magnet 7102 located below aperture 7120 defined in position sensor bracket 7118. Position sensor 7100 and control circuit board assembly 1106 are not shown for clarity. Figure 190 shows sensor arrangement 7002 with control circuit board assembly 1106, position sensor support 7118, position sensor 7100, and magnet 7102 removed to show opening 7124 receiving magnet 7102.

[00454] Figure 191 is a top view of sensor array 7002 shown with control circuit board 1106 removed, but with electronics still visible, to show relative position between position sensor 7100 and circuit components. 7126, according to one embodiment. In the embodiment illustrated in conjunction with Figures 186 to 191, gear assembly 7106 composed of first gear 7108 and second gear 7110 has a gear ratio of 3: 1, so that three rotations of second gear 7110 provide a single rotation. first gear 7108 and also magnet holder 7104. As previously discussed, position sensor 7100 remains stationary while magnet holder assembly 7104 — magnet 7102 rotates.

As discussed above, a gear assembly may be used to drive magnet bracket 7104 and magnet 7102. A gear assembly may be useful in various circumstances since the relative rotation between a gear in the gear assembly and other gear in the gear assembly can be safely provided. In various other circumstances, any suitable drive may be used to drive the. bracket 7104 and magnet 7102, as long as the relationship between motor power and magnet rotation 7102 can be predicted safely. Such means may include, for example, a set of wheels, including at least two contact wheels, such as plastic wheels and / or elastomeric wheels, for example, which may transmit motion to one another. Such means may also include, for example, a wheel and belt assembly.

Fig. 192 is a schematic diagram of an embodiment of a position sensor 7100 for an absolute positioning system 7000 comprising a rotary magnetic absolute positioning system according to one embodiment. In one embodiment, the 7100 position sensor can be implemented as a single chip rotary magnetic position sensor, AS5055EQFT, available from austriamicrosystems, AG. The 7100 position sensor interfaces with the 7004 microcontroller to provide a 7000 absolute positioning system. The 7100 position sensor is a low voltage, low power component and includes four integrated Hall effect elements 7128A, 7128B, 7128C, 7128D in an area 7130 of the position sensor 7100 located above magnet 7104 (Figures 186 to 187). A 7132 high-resolution ADC and 7138 intelligent power management controller are also featured in the integrated circuit. A CORDIC 7136 (from COordinate Rotation Digital Computer) processor, also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, shift offset. bits and lookup table. Angular position, alarm bits, and magnetic field information is transmitted via a standard SPI interface 7134 to the host processor, the 7004 microcontroller. The 7100 position sensor provides 12 or 14 bits of resolution. In the embodiment illustrated in Figure 191, the position sensor 7100 is an AS5055 integrated circuit, supplied in a small 4x4x0.85 mm 16-pin QFN package.

Hall effect elements 7128A, 7128B, 7128C, 7128D are located directly above the rotating magnet. The Hall effect is a well known effect and will not be described in detail in the present invention for the sake of brevity and clarity of description. In general, the Hall effect is the production of potential difference (Hall voltage) through an electrical conductor, transverse to an electrical current in the conductor, and a magnetic field perpendicular to the current. It was discovered by Edwin Hall in 1879. The Hall coefficient is defined as the ratio between the induced electric field and the product of current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, as its value depends on the type, number and properties of the load carriers that make up the current. In the AS5055 7100 position sensor, Hall effect elements 7128A, 7128B, 7128C, 7128D are capable of producing a voltage signal indicative of the absolute position of magnet 7104 (Figures 186, 187) in terms of angle during a single revolution. This angle value, which is a single position signal, is calculated by the CORDIC 7136 processor and stored on the AS5055 7100 position sensor in a register or memory. The angle value that is indicative of magnet position 7104 during a revolution is provided to host processor 7004 in a variety of techniques, for example, upon power up or on demand from host processor 7004.

The AS5055 7100 position sensor requires only a few external components to operate when connected to the 7004 host microcontroller. Six wires are required for one. simple application using a single power supply: two wires for power and four wires 7140 for serial 7134 SPI serial communication interface with 7004 host microcontroller. A seventh connection can be added to send an interrupt signal to the host microcontroller 7004 stating that a new valid angle can be read.

With power up, the AS5055 7100 position sensor perform a full power up sequence, including an angle measurement. Completion of this cycle is indicated as an INT request on output pin 7142, and the angle value is stored in an internal register. Once this output is configured, the AS5055 7100 position sensor suspend enters suspend mode. The 7004 external microcontroller can respond to the INT request at 7142 by reading the angle value from the AS5055 7100 position sensor via the SPI interface 7134. Once the angle value has been read by the 7004 microcontroller, the INT 7142 output is cleared again. Send a "read angle" command through the SP interface! 7134 via microcontroller 7004 to position sensor 7100 also automatically energizes the integrated circuit and initiates another angle measurement. As soon as microcontroller 7004 finishes reading the angle value, the INT 7142 output is cleared and a new result is stored in the angle register. The completion of this angle measurement is indicated again by determining output INT 7142 and the corresponding identification in the state register.

Due to the AS5055 7100 position sensor measurement principle, only a single angle measurement is performed in a very short time (~ 600 ps) after each power up sequence. As soon as the angle measurement is completed, the AS5055 7100 position sensor enters the de-energized state. There is no digital averaged angle value filter implemented as this would require more than one angle measurement and therefore a longer power-up time, which is not desired in low power applications. Angle range can be reduced by averaging multiple angle samples on the 7004 external microcontroller. For example, an average of four samples reduces the range by 6 dB (50%).

As discussed above, motor 1102 positioned within cable 1042 of surgical instrument system 1000 may be used to advance and / or retract stem assembly firing system 1200, including firing elements 1272 and 1280, for example, with respect to end actuator 1300 of stem assembly 1200 in order to staple and / or trap captured tissue within end actuator 1300. In various circumstances it may be desirable to advance trigger elements 1272 and 1280 with a desired speed or within a desired speed range. Likewise, it may be desirable to retract the firing elements 1272 and 1280 at a desired speed or within a desired speed range. In various circumstances, the 1042 cable microcontroller 7004, for example, and / or any other suitable controller may be configured to control the speed of the triggering elements 1272 and 1280. In some circumstances, the controller may be configured to predict the speed. 1272 and 1280 based on various parameters of the power supplied to motor 1102, such as voltage and / or current, for example, and / or other operating parameters of motor 1102. The controller can also be configured to predict current speed. of tripping elements 1272 and 1280 based on previous current and / or voltage values supplied to motor 1102, and / or previous system states such as speed, acceleration and / or position. In addition, the controller may also be configured to detect the speed of tripping elements 1272 and 1280 using the positioning sensor system described above, for example. Under various circumstances, the controller may be configured to compare the predicted speed of tripping elements 1272 and 1280 and the detected speed of tripping elements 1272 and 1280 to determine if motor power 1102 should be increased to increase the speed of the tripping elements. firing elements 1272 and 1280 and / or decreased to slow down firing elements 1272 and 1280. U.S. Patent Application Serial No. 12 / 235,782, entitled MOTOR DRIVE SURGICAL CUTTING INSTRUMENT, now US Patent No. 8,210,411, is incorporated in its entirety by reference. US Patent Application Serial No. 11 / 343,803, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, is incorporated in its entirety by reference.

Using the physical properties of the instruments presented in the present invention, turning now to Figures 198 and 199, a controller, such as a 7004 microcontroller, can be designed to simulate an actual instrument system response in the software of the instrument. controller. The simulated response is compared to the measured (noisy and discrete) response of the real system to obtain an "observed" response, which is used for effective feedback-based decisions. The observed response is a favorable and adjusted value that balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system. With respect to Figures 198 and 199, a triggering element or cutting element in end actuator 1300 of rod assembly 1200 may be moved at or near a desired speed. The systems shown in Figures 198 and 199 may be used to move the cutting element at the desired speed. Systems may include a 4200 feedback controller, which may be any feedback controller, including but not limited to PID, State Feedback, LQR and / or an adaptive controller, for example. Systems may further include a power supply. The power supply can convert the 4200 feedback controller signal into a physical input to the system, in this case the voltage, for example. Other examples include, but are not limited to, pulse width modulated voltage (PWM), frequency modulated voltage, current, torque and / or force, for example.

Continuing with reference to Figures 198 and 199, the physical system shown therein is the actual instrument drive system configured to drive the triggering element or the cutting element. An example is a brushed direct current motor with gearbox and mechanical connections to an eJ or bevel joint system. Another example is the motor 1102, presented in the present invention, which operates the firing element 10060 and the pivot driver 10030, for example, of an inexhaustible rod assembly. The external influence 4201 shown in Figures 198 and 199 is the unmeasured and unpredictable influence of things like tissue, surrounding bodies, and friction, for example, on the physical system. This external influence can be called drag and can be represented by a motor 4202, which acts in opposition to motor 1102, for example. In many circumstances, external influence, such as drag, is the main cause for the difference between physical system simulation and the actual physical system. The systems depicted in Figures 198 and 199 and further discussed below may address the differences between the predicted behavior of the trigger element or cutter and the actual behavior of the trigger element or cutter.

Continuing the reference to Figures 198 and 199, the discrete sensor quoted therein measures the physical parameters of the actual physical system. One embodiment of such discrete sensor may include the absolute positioning sensor 7102 and the system described herein. Since the output of such discrete sensor may be a digital signal (or be connected to a digital data acquisition system), its output may have finite resolution and sampling frequency. Discrete sensor output can be supplied to a microcontroller, such as the 7004 microcontroller, for example. In various circumstances, the microcontroller may combine the simulated, or estimated, response with the measured response. In certain circumstances, it may be useful to use response that is sufficiently measured to ensure that external influence is taken into account without making the observed response so loud that it cannot be used. Examples of algorithms that do this include a weighted average and / or a theoretical control loop that triggers the simulated response towards the measured response, for example. Finally, in addition to the above, physical system stimulation takes into account properties such as mass, inertia, viscous friction and / or resistance to inductance, for example, to predict which states and system outputs will be. physicist knowing the entrance. Figure 199 shows an addition of the rating and measurement of the current supplied to operate the actual system, which is yet another parameter that can be evaluated to control the speed of the cutting element or stem assembly firing element 1200, for example. example. By measuring current in addition to or instead of voltage measurement, under certain circumstances the physical system can become more accurate. Nevertheless, the ideas presented in the present invention may be extended to measurement. of other state parameters of other physical systems.

Having described various embodiments of an absolute positioning system 7000 for determining a signal / absolute position value of a sensor element corresponding to a single absolute position of the elements associated with pivot and trigger, the display now turns to a Description of the various techniques for employing position / absolute value in a position feedback system for controlling joint and scalpel position to compensate for scalpel bevelling in a motorized articulated surgical instrument 1010 (Figure 33). The 7000 Absolute Positioning System provides the microcontroller with a unique position signal / value for each possible location of the drive bar or scalpel along the staple cartridge extension.

The operation of pivot joint 1350 has been described in conjunction with Figure 37 and will not be repeated in detail in this section for the sake of brevity and clarity of description. The operation of the 10090 pivot joint has been described in conjunction with Figure 102 and will not be repeated in detail in this section for the sake of brevity and clarity of description. Figure 193 illustrates a pivot joint 8000 in a straight position, that is, at zero angle 00 to the longitudinal direction, represented as the longitudinal axis L-A, according to one embodiment. Fig. 195 illustrates pivot joint 8000 of Fig. 193 hinged in a direction with a first angle Θ · defined between the longitudinal axis L-A and a pivot axis A-A according to one embodiment. Fig. 195 illustrates pivot joint 8000 of Fig. 194 pivoted in another direction with a second angle θ2 defined between the longitudinal axis L-A and pivot axis A '-A according to one embodiment.

The surgical instrument according to the present disclosure uses multiple bands of flexible scalpels 8002 to transfer compressive force to a converter cutting element in the end actuator cartridge 1300 (not shown) (Figure 37). Flexible scalpel bands 8002 allow the end actuator 1300 (Figure 33) to pivot at a variety of angles θ. Articulating, however, causes flexible scalpel bands 8002 to taper. Bevelling of flexible scalpel bands 8002 alters the effective transection length 7} in the longitudinal direction. Thus, it is difficult to determine the exact position of the scalpel beyond the 8000 pivot joint when the flexible scalpel bands 8002 are pivoted beyond an angle of Θ = 0. As previously discussed, the position of the pivot and cutting elements can be determined directly using the absolute position signal / feedback value emitted by the absolute positioning system 7000 when the pivot angle is zero θ0, as shown in Figure 194. However, when flexible scalpel bands 8002 deviate From the zero angle θ0 of the longitudinal axis LA, the absolute position within the cartridge cannot be accurately determined on the basis of the absolute position signal / value provided by the absolute positioning system 7000 to microcontroller 7004 without the knowledge of the pivot angle Θ.

[00468] In one embodiment, the pivot angle Θ can be determined very precisely based on the triggering of the surgical instrument. As described above, the movement of the triggering element 10060 may be traced by an absolute positioning system 7000, wherein when the pivot drive is operably coupled to the triggering element 10060 by the clutch system 10070, e.g. 7000 absolute positioning system can, in effect, track the movement of the articulation system by triggering element 10060. As a result of tracking the movement of the articulation system, the surgical instrument controller can track the articulation angle Θ of the actuator. such as the end actuator 10020, for example. In various circumstances, as a result, the pivot angle Θ may be determined as a function of the longitudinal displacement DL of the flexible scalpel bands 8002. How the longitudinal displacement DL of the flexible scalpel bands 8002 can be determined precisely on the basis of the signal / vaior Absolute position system provided by the absolute positioning system 7000, an algorithm can be employed to compensate for the error in scalpel displacement following the pivot joint 8000.

In another embodiment, the pivot angle Θ may be determined by location sensors in the flexible scalpel bands 8002 distal D to the pivot joint 8000. The sensors may be configured to detect the size of stress or compression in the scalpel bands. 8002. The measured stress or compression results are provided to the 7004 microcontroller to calculate the pivot angle Θ based on the dimension of the stress or compression measured on the 8002 scalpel bands. Suitable sensors such as microelectronic mechanical systems (MEMS) devices and strain gauges can be readily adapted to make these measurements. Other techniques include positioning the tilt sensor, clinometer, accelerometer, or any suitable angle measuring device on the 8000 pivot joint to measure the pivot angle Θ.

In various embodiments, various techniques for compensating for bevelling of flexible scalpel bands 8002 in a motorized pivotable surgical instrument 1010 (Figure 33) are described below in the present invention in the context of a motorized surgical instrument 1010 comprising a system of absolute positioning 7000 and a 7004 microcontroller with data storage capacity such as a 7006 memory.

Figure 196 illustrates one embodiment of a logic diagram 8100 for a method of compensating for the bevelling effect of flexible scalpel bands 8002 at transect length Tt. The method will be described in conjunction with Figures 185 and 192 to 196. Thus, in one embodiment of a bevelling effect compensation method 8100 in flexible scalpel bands 8002 at the transect length Tt, the relationship between the joint angle Θ end actuator 1300 (Figure 37), or end actuator 10020 (Figure 102), for example, and the effective transverse length T distally from pivot joint 8000 is initially characterized, and characterization data is stored in memory 7006 of the surgical instrument 1010 (Figure 33). In one embodiment, 7006 memory is nonvolatile memory, such as flash memory, EEPROM, and the like. Processor portion 7008 of microcontroller 7004 accesses 8102 characterization data stored in memory 7006. Processor 7008 tracks 8104 pivot angle of end actuator 1300 during use of surgical instrument 1010. Processor 7008 adjusts 8106 desired transection length T by the surgical instrument 1010 based on the known pivot angle ΘΜ and stored characterization data representative of the relationship between the pivot angle 0S and the transection length Th [00472] In various embodiments, the characterization data representative of the relationship between the pivot angle Θ of the end actuator 1300 (Figure 37) and the effective transection length 7 can be completed for the rod of the surgical instrument 1010 (Figure 33) during fabrication. In one embodiment, the output of characterization process 8102 is a lookup table implemented in memory 7006. Accordingly, in one embodiment, the processor 7008 accesses the characterization data of the lookup table implemented in memory 7006. In one aspect, the table The search method comprises an array that replaces runtime computation with a simpler array indexing operation. The savings in terms of processing time can be significant because recovering a value from memory 7006 through processor 7008 is generally faster than performing "costly" computing or an input / output operation. The lookup table can be precalculated and stored in a static program store, calculated (or "prefetched") as part of a program initialization phase (memorization), or even stored in hardware on application platforms. specific. In instant application, the lookup table stores output values of the characterization of the relationship between the pivot angle of the 1300 end actuator (Figure 37) and the effective transect length. The lookup table stores these output values in an array, and in some programming languages can include functions. Thus, for each single value of linear displacement DL there is a corresponding pivot angle θ. Pivot angle 9 is used to calculate an offset T of corresponding transverse length distally to pivot joint 8000, pivot joint 1350 or pivot joint 10090, for example. The offset T of the corresponding transect length is stored in the lookup table and is used by microcontroller 7004 to determine the position of the scalpel beyond the pivot joint. Other lookup table techniques are contemplated within the scope of the present disclosure.

[00473] In one embodiment, the output of characterization process 8102 is a formula of the best curve fit, linear or nonlinear. Thus, in one embodiment the 7008 processor is operable to execute computer readable instructions in order to implement the best curve fitting formula based on the characterization data. Curve fitting is the process of constructing a curve or mathematical function that has the best fit on a series of data points, possibly subject to limitations. Curve fitting can even involve interpolation when exact data adjustment is required. In the present description, the curve represents the displacement of the transection length T of the distal flexible scalpel bands 8002 distally from the articulation joint 8000 (Figure 37) based on the articulation angle θ, which depends on the linear displacement DL of flexible scalpel bands 8002 proximally P to pivot joint 1350. Data points such as linear displacement DL of flexible scalpel bands 8002 proximal to articulation joint 1350, of displacement 7} of flexible scalpel bands 8002 distally to articulation joint 1350 pivot and pivot angle Θ can be measured and used to generate a best fit curve in the form of an order polynomial (usually a 3rd order polynomial would provide a proper curve fit to fit the measured data). The 7004 microcontroller can be programmed to implement the polynomial of in order. In use, the polynomial input of in order is the linear displacement of flexible scalpel bands 8002 derived from the absolute position single signal / value provided by the absolute positioning system 7000.

In one embodiment, the characterization process 8102 determines the pivot angle Θ and the compressive force on the scalpel bands 8002.

[00475] In one embodiment, the effective transection length is a distance between the most distal surface of the scalpel blade relative to a predetermined reference on the handle of surgical instruments 1010.

In various embodiments, the memory 7006 for storing the characterization may be a nonvolatile memory located on the stem, cable, or both of the surgical instrument 1010 (Figure 33).

In various embodiments, the pivot angle Θ may be tracked by a sensor located on the stem of the surgical instrument 1010 (Figure 33). In other embodiments, the pivot angle 0 may be tracked by a sensor on the handle of the surgical instrument 1010, or the pivot angle Θ may be tracked by variables in the control software for the surgical instrument 1010.

In one embodiment, the characterization is used by the 7004 microcontroller control software that communicates to the nonvolatile memory 7006 to gain access to the characterization.

Various embodiments described in the present invention are described in the context of staples removably stored within a staple cartridge for use with surgical stapling instruments. In some circumstances, staples may include wires that are deformed when they come in contact with a surgical stapler anvil. Such wires may be composed of metal, such as stainless steel, for example, and / or any other suitable material. These embodiments, and their teachings, may be applied to embodiments including fasteners removably stored in fastener cartridges for use with any suitable fastening instruction.

Various embodiments described in the present invention are described in the context of the linear end actuator and / or linear fastener cartridges. These embodiments, and their teachings, may be applied to nonlinear end actuators and / or nonlinear fastener cartridges, such as circular end actuators and / or other shapes. For example, various end actuators, including nonlinear end actuators, are disclosed in US Patent Application Serial No. 13 / 036,647, filed February 28, 2011, entitled SURGICAL STAPLING INSTRUMENT, now US patent application publication. No. 2011/0226837, which is incorporated in its entirety to the present invention by reference. Additionally, US Patent Application Serial No. 12 / 893,461, filed September 29, 2012, entitled STAPLE CARTRIDGE, now US Patent Application Publication No. 2012/0074198, which is incorporated in its entirety by the present invention by US Patent Application Serial No. 12 / 031,873, filed February 15, 2008 entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, now US Patent No. 7,980,443, is also incorporated in its entirety. to the present invention by reference. US Patent No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, issued March 12, 2013, is also incorporated in its entirety into the present invention by reference.

Examples A tissue treatment surgical instrument may comprise a cable including a trigger, a rod extending from the cable, an end actuator and a pivot joint, wherein the end actuator is rotationally coupled. to the rod by the pivot joint. The surgical instrument may further comprise a trigger operably coupled trigger member, wherein trigger operation is configured to advance the trigger member toward the end actuator, and a pivot member operably coupled to the trigger actuator. far end. The pivot element may be selectively engaged with the triggering element so that the pivot element is operably engaged with the triggering element in a engaged configuration and such that the pivot element is operably disengaged from the triggering element. triggering in a disengaged configuration, wherein the triggering element is configured to advance the pivot member toward the end actuator to rotate the end actuator around the pivot joint when the pivot element and trigger element are in setting engaged. The surgical instrument may further include a traction element such as a spring, for example, which may be configured to recentralize the end actuator and realign the end actuator with the stem along a longitudinal axis after the end actuator. extremity has been articulated.

A surgical tissue treatment instrument may comprise a cable including a trigger, a rod extending from the cable, an end actuator and a pivot joint, wherein the end actuator is rotationally coupled to the rod through the pivot joint. The surgical instrument may further comprise a trigger drive that can be operably engaged with the electric motor, wherein the trigger drive is configured to be advanced toward the end actuator and retracted from the end actuator by the electric motor. The surgical instrument may further comprise a pivot actuator operably coupled to the end actuator, wherein the pivot actuator is configured to rotate the end actuator in a first direction when the pivot actuator is pushed distally toward the actuator. where the pivot actuator is configured to rotate the end actuator in a second direction when the pivot actuator is pulled proximally opposite the end actuator, wherein the trigger drive may be selectively engaged with the pivot actuator. and is configured to perform at least one function of pushing the pivot actuator distally toward the end actuator and pulling the pivot actuator away from the end actuator when the trigger drive is operably engaged with the pivot actuator and where the trigger Trigger can operate independently of the pivot drive when the trigger drive is operably disengaged from the pivot drive.

A surgical tissue treatment instrument may comprise a stem, an end actuator rotationally coupled to the stem, and a triggering element configured to be moved relative to the end actuator. The surgical instrument may further comprise a pivot element operably coupled to the end actuator, wherein the pivot element is operably engaged with the triggering element in a engaged configuration, and such that the pivot element is disengaged so as to be operable. operable of the trigger element in a disengaged configuration, and wherein the trigger element is configured to move the pivot member relative to the end actuator to rotate the end actuator when the pivot element and the trigger element are in the configuration. engaged. The surgical instrument may further comprise an end actuator lock, configurable in a locked configuration and an unlocked configuration, wherein the end actuator lock is configured to operably engage the pivot element with the triggering element when the actuator lock End actuator is in unlocked configuration.

[00484] A surgical instrument which may include at least one drive system configured to generate control movements and which defines an actuation axis. The surgical instrument may additionally comprise at least one interchangeable stem assembly configured to be removably coupled to the at least one drive system in a direction that is substantially transverse to the actuation axis and to transmit the control movements of at least one. drive system to a surgical end actuator operably coupled to the interchangeable stem assembly. In addition, the surgical instrument may also include a locking assembly that interfaces with at least one drive system to prevent actuation of the drive system unless at least one interchangeable rod assembly has been operably coupled. at least one drive system.

A surgical instrument comprising a rod assembly including an end actuator. The end actuator may comprise a surgical staple cartridge and an anvil that is movably supported relative to the surgical staple cartridge. The rod assembly may further comprise a movable closing rod assembly configured to apply opening and closing movements to the anvil. A rod retaining structure may operably support a portion of the movable closing rod assembly operably therein. The surgical instrument may further comprise a frame member which is configured for operable and removable engagement with the stem clamping frame and a closure drive system which is operably supported by the frame member and defines an actuation shaft. . The closure drive system may be configured for engagement operable with the closure rod assembly in a direction that is substantially transverse to the actuation shaft when the stem retaining frame is operably engaging with the frame member. A locking assembly may be in communication with the closing actuation system to prevent the actuation of the closing actuation system unless the closing rod assembly is in operable engagement with the closing actuation system.

[00486] A surgical system which may comprise a structure operably supporting at least one drive system to generate control movements upon actuation of the control actuator, at least one of the drive systems defines an actuation axis. The surgical system may further comprise a plurality of interchangeable stem assemblies, wherein each interchangeable stem assembly may comprise a stem retaining structure configured to operably and removably engage a frame portion in a direction which is disposable. be substantially transverse to the actuation axis. A first shank assembly may be operably supported by the shank attachment structure and may be configured for operable engagement with at least one corresponding drive system in a direction substantially transverse to the drive shaft. A locking assembly may mechanically engage a portion of at least one corresponding drive system and cooperate with the control actuator to prevent activation of the control actuator until the stem retaining frame is operably engaged with the frame portion, and the first rod assembly is in operable engagement with at least one of the drive systems.

[00487] An interchangeable stem assembly can be used with a surgical instrument. In at least one form, the surgical instrument includes a structure operably supporting a plurality of drive systems and defining an actuation shaft. In one form, the stem assembly comprises a first stem that is configured to apply first actuation movements to a operably coupled surgical end actuator, wherein a proximal end of the first stem is configured to be operably coupled. and releasably to a first drive system among the drive systems supported by the frame in a direction that is substantially transverse to the drive shaft.

[00488] An interchangeable stem assembly can be used with a surgical instrument. In at least one form, the surgical instrument may include a structure defining an actuation axis and operably supporting a plurality of drive systems. Various shapes of the rod assembly may comprise a rod structure having a rod clamping module attached to a proximal end thereof and being configured to be releasably coupled to a frame portion in a direction substantially transverse to the actuation axis. The stem assembly may additionally comprise an end actuator operably coupled to a distal end of the stem structure. In at least one form, the end actuator comprises a surgical staple cartridge and an anvil that is movably supported relative to the surgical staple cartridge. The shank assembly may further comprise an external shank assembly including a distal end that is configured to apply control movements to the anvil. The outer rod assembly may include a proximal end that is configured to be operably and releasably coupled to a first drive system within the frame-supported drive systems in a direction that is substantially transverse to the drive shaft. The rod assembly may also comprise a trigger rod assembly that includes a distal cutting portion that is configured to move between a start position and an end position within the end actuator. The firing rod assembly may include a proximal end that is configured to be operably and loosely coupled to a frame-supported firing drive system in a direction that is substantially transverse to the actuating axis.

[00489] A surgical system may comprise a structure that supports a plurality of drive systems and defines a drive shaft. The system may further comprise a plurality of interchangeable rod assemblies. Each interchangeable rod assembly may comprise an elongate rod that is configured to apply first actuation movements to a operably coupled surgical end actuator, wherein a proximal end of the elongate rod is configured to be operably coupled and In this way, I releasable to a first drive system among the drive systems supported by the frame in a direction that is substantially transverse to the drive shaft. Each interchangeable rod assembly may additionally comprise a control rod assembly that is operably supported within an elongate rod and is configured to apply control movements to the end actuator, wherein a proximal end of the control rod assembly configured to be operably and releasably coupled within one second of the frame-supported drive systems in the direction that is substantially transverse to the actuation axis and wherein at least one of the surgical end actuators is different from another surgical end actuators.

Those skilled in the art will understand that the various surgical instrument arrangements presented in the present invention include a variety of mechanisms and structures for positive alignment and positive locking and unlocking of interchangeable stem assemblies in the portion (s). corresponding (s) of a surgical instrument, be it a manual instrument or a robotically controlled instrument. For example, it may be desirable for the instrument to be configured to prevent the actuation of one or more (including all) drive systems at incorrect times during instrument preparation or during use in a surgical procedure.

[00491] A compartment for use with a surgical instrument that includes a rod and an end actuator, wherein the surgical instrument includes a pivot assembly configured to move the end actuator relative to the rod. The housing comprises a motor operably supported by the housing, a pivot driver configured to transmit at least one pivot movement to the pivot assembly to move the end actuator between the pivot start state and a pivot position, a controller in communication with the motor, a first input configured to transmit a first input signal to the controller, wherein the controller is configured to activate the motor to generate at least one pivot motion to move the end actuator to the pivot position. in response to the first input signal, and a reset input configured to transmit a reset input signal to the controller, wherein the controller is configured to activate the motor to generate at least one reset motion to move the actuator. end to the initial joint position in response a to the restart input signal.

A surgical instrument comprises a stem, an end actuator extending distally from the stem, the end actuator is movable relative to the stem, between the initial pivot state position and an articulated position. The end actuator comprises a staple cartridge, including a plurality of staples, and a triggering element, configured to trigger a plurality of staples, wherein the triggering element is movable between the initial trigger state position and a triggered position. . In addition, the surgical instrument comprises a compartment extending proximally to the stem. The enclosure comprises a motor operably supported by the enclosure, a controller communicating with the motor and an initial state input configured to transmit an initial state input signal to the controller, wherein the controller is configured to activate the motor at response to the initial state input signal to return the end actuator to the pivot initial state position and the trigger element to the initial trigger state position.

[00493] A surgical instrument comprises an end actuator, a rod extending proximally from the end actuator, a pivot assembly configured to move the end actuator relative to the rod, between an un articulated position, a first position hinged on a first side of the non-articulated position and a second hinged position on a second side of the un articulated position, the first side being opposite the second side. In addition, the surgical instrument further comprises a motor, a controller in communication with the motor, a first input configured to transmit a first input signal to the controller, wherein the controller is configured to enable the motor to move the actuator. end to the first hinged position in response to the first input signal, a second input configured to transmit a second input signal to the controller, wherein the controller is configured to enable the motor to move the end actuator to the second position. in response to the second input signal, and a reset input configured to transmit a reset input signal to the controller, wherein the controller is configured to enable the motor to move the end actuator to the non-articulated position. response to the restart input signal.

A surgical instrument comprises an end actuator, a rod extending proximally from the end actuator, a firing assembly configured to trigger a plurality of clamps, a pivot assembly configured to pivot the end actuator relative to one another. to the rod, a movable locking element between a locked and an unlocked configuration, and a housing extending proximally from the rod, wherein the liner is removably couplable to the rod when the locking element is in the unlocked configuration. The enclosure comprises a motor configured to drive at least one of the trigger assemblies and the pivot assembly, and a controller in communication with the motor, wherein the controller is configured to enable the motor to restart at least one of the trigger set. trigger and pivot assembly in the initial state when the locking member is moved between the locked configuration and the unlocked configuration.

A surgical instrument comprises an end actuator, a rod extending proximally from the end actuator, a firing assembly configured to trigger a plurality of clamps, a pivot assembly configured to pivot the end actuator relative to one another. to the rod, a movable locking member between a locking configuration and an unlocked configuration, and a housing extending proximally from the rod, wherein the housing is removably couplable to the rod when the locking element is in the unlocked configuration. The housing comprises a motor configured to drive at least between the trigger assembly and the pivot assembly, a controller communicating with the motor, and an initial state input operably coupled to the locking element, wherein the state input is configured to transmit an initial state input signal to the controller, and wherein the controller is configured to enable the motor to restart at least one of the trigger assembly and pivot assembly to an initial state position at response to the initial state input signal.

A surgical instrument comprises an end actuator, a rod extending proximally from the end actuator, a pivot assembly configured to pivot the end actuator relative to the rod between the start state position and a pivot position. a movable locking element between a locking configuration and an unlocked configuration, and a housing extending proximally from the rod, wherein the housing is removably couplable to the rod when the locking element is in the unlocked configuration. The enclosure comprises a motor configured to drive the pivot assembly, and a controller in communication with the motor, wherein the controller is configured to activate the motor to return the end actuator to the initial state position when the element lock is moved between the locked configuration and the unlocked configuration.

An absolute positioning sensor system for the surgical instrument may comprise, one, a sensing element operably coupled to a movable operating element of the surgical instrument, and two a position sensor operably coupled. to the sensor element, the position sensor being configured to detect the absolute position of the sensor element.

A surgical instrument may comprise an absolute positioning sensor system comprising a sensor element operably coupled to a mobile operating element of the surgical instrument and a position sensor operably coupled to the sensor element, and, two, a motor operably coupled to the drive element.

An absolute position sensor system for a surgical instrument may comprise, one, a sensor element operably coupled to a mobile operating element of the surgical instrument, two, a support for holding the sensor element, the support and the sensor element rotatably coupled; and, three, a position sensor operably coupled to the sensor element, the position sensor being configured to detect the absolute position of the sensor element, the position sensor being fixed relative to the rotation of the sensor element. support and the sensor element.

A method of compensating for the bevelling effect of flexible scalpel bands on the transection length of a surgical instrument comprising a processor and a memory, wherein the surgical instrument involves, stored in memory, characterization data representative of a relationship between the pivot angle of an end actuator and an effective transection length distally from a pivot joint, comprising the steps of, one, access by the processor, memory characterization data from the surgical instrument, two, tracking, by the processor, the pivot angle of the end actuator during use of the surgical instrument, and, three, adjusting, by the processor, the desired cross-sectional length of the surgical instrument based on the tracked pivot angle and stored characterization data.

[00501] A surgical instrument may comprise a microcontroller comprising a processor configured to execute computer readable instructions and a memory coupled to the microcontroller, the operating processor being for one to access representative characterization data in memory. of a relationship between the pivot angle of an end actuator and the effective transection length, distally from a pivot joint, two, tracing the pivot angle of the end actuator during use of the surgical instrument and, three, adjusting desired cross-sectional length based on tracked pivot angle and stored characterization data.

A surgical instrument may comprise an end actuator comprising a pivot joint, flexible scalpel bands configured to move from a proximal pivot joint position to a distal pivot joint position, a microcontroller, which comprises an operating processor for executing computer readable instructions and a memory coupled to the microcontroller. The processor is operative to one access in memory the characterization data representative of a relationship between the pivot angle of an end actuator and the effective transect length distally from a pivot joint, two, to track the end actuator pivot angle during use of the surgical instrument and, three, adjust the desired transection length based on the known pivot angle and stored characterization data.

[00503] A stem assembly for use with a surgical instrument may comprise a stem, an end actuator, a pivot joint connecting the end actuator to the stem, a trigger actuator, an end actuator movable, an actuator pivot actuator, configured to pivot the end actuator around the pivot joint, and a clutch collar, configured to selectively engage the pivot actuator with the trigger actuator to impart the movement of the trigger actuator to the articulation actuator.

[00504] A surgical instrument may comprise a cable, an electric motor positioned on the cable, a cable-retaining rod, an end actuator, a pivot joint, connecting the end actuator to the stem, a trigger actuator, movable towards the end actuator, the electric motor being configured to provide a triggering motion to the trigger actuator, a pivot actuator configured to pivot the end actuator around the pivot joint, and a rotary clutch configured to selectively engage the pivot actuator. trigger to give the pivot trigger the triggering motion.

A stem assembly for use with a surgical instrument may comprise a stem, an end actuator, a pivot joint, connecting the end actuator to the stem, a movable trigger relative to the end actuator, an actuator pivot actuator configured to pivot the end actuator around the pivot joint, and a longitudinal clutch configured to selectively engage the pivot actuator with the trigger actuator to impart the movement of the trigger actuator to the pivot actuator.

A stem assembly attachable to the cable of a surgical instrument, the stem assembly comprising a stem comprising a connector portion configured to operably connect the stem to the cable, an end actuator, a pivot joint. connecting the end actuator to the rod, a trigger actuator movable relative to the end actuator when a trigger motion is applied to the trigger actuator, a pivot actuator configured to pivot the end actuator around the pivot joint when a pivot movement is applied to the pivot driver, and a pivot lock is configured to releasably hold the pivot driver in position, and pivot movement is configured to unlock the pivot lock.

A stem assembly attachable to the cable of a surgical instrument, the stem assembly comprising a stem comprising one connector portion configured to operably connect the stem to the cable and two a proximal end, a end actuator, comprising a distal end, a pivot joint connecting the end actuator to the rod, a movable trigger relative to the end actuator by means of a triggering motion, a pivot actuator configured to pivot the actuator around a pivot joint when a pivot movement is applied to the pivot actuator, and a pivot lock comprising one first one-way latch configured to releasably resist proximal movement of the pivot actuator and two , a second unidirectional lock configured to releasably resist distal movement of the articulation.

A cord-mountable stem assembly of a surgical instrument comprising a stem including one connector portion configured to operably connect the stem to the cable and two a proximal end an end actuator comprising a distal end, a pivot joint connecting the end actuator to the rod, a movable trigger relative to the end actuator by means of a triggering motion, a pivot actuator system comprising, one, a actuator and two, a distal joint driver operably engaged with the end actuator, and a joint lock configured to uprightly hold the proximal joint driver in position, with the proximal joint drive movement configured to unlock the pivot lock and trigger the distal pivot drive.

A rod assembly attachable to the cable of a surgical instrument, comprising a rod including one connector portion configured to operably connect the rod to the cable and two a proximal end, an end actuator. comprising a distal end, a pivot joint connecting the end actuator to the rod, a movable trigger actuator relative to the end actuator by means of a triggering motion, and a pivot actuator system comprising one, a first pivot driver and two, a second pivot driver operably engaged with the end actuator, and a pivot lock configured to unmistakably hold the second pivot actuator in position, with the initial movement of the first pivot actuator being configured. to unlock the second pivot drive, and a subsequent movement of the first pivot joint configured to trigger the second pivot trigger.

[00510] A surgical stapler may comprise a cable, a firing element and an electric motor. The electric motor may advance the trigger element during a first operating state, retract the trigger element during a second operating state, and transmit feedback to the cable during a third operating state. In addition, the electric motor may comprise a rod and a rod mounted resonator. The resonator may comprise a body, which may comprise a mounting hole. The mounting hole and stem may be coaxial to the resonator center axis, and the resonator center of mass may be positioned along the center axis. The resonator may also comprise a spring extending from the body, a weight extending from the spring and a counterweight extending from the body.

A tissue cutting and stapling surgical instrument may comprise a cable, a triggering element extending from the cable, an electric motor positioned on the cable and an amplifier comprising a center of mass. The electric motor may be configured to operate in a plurality of states and may comprise a motor rod. In addition, the amplifier can be mounted on the motor rod in the center of mass. The amplifier can rotate in a first direction when the electric motor is in the trip state, and the amplifier can oscillate between the first direction and the second direction when the electric motor is in the feedback state.

A tissue cutting and stapling surgical instrument may comprise a holding means for holding the surgical instrument, a triggering element and a motor means for operating in a plurality of operating states. The plurality of operational states may comprise a trip state and a feedback state. The motor half can rotate in a first direction during the trigger state and can oscillate between a first direction and a second direction during the feedback state. The surgical instrument may further comprise feedback generating means for the generation of haptic feedback. Feedback half generator can be mounted on the half motor.

A tissue cutting and stapling surgical instrument may comprise a cable, a triggering element extending from the cable and an electric motor positioned on the cable. The electric motor may be configured to operate in a plurality of states and the electric motor may comprise a motor rod. The surgical instrument may further comprise a resonator comprising a center of mass. The resonator can be mounted on the motor rod in the center of mass. In addition, the resonator may be balanced when the electric motor is in the forward state, and the resonator may be unbalanced when the electric motor is in the feedback state.

A method for operating a surgical stapler may comprise initiating an initial operating state. A cutting element may be actuated distally during the initial operating state. The method may further comprise detecting a boundary condition on the cutting element, communicating the boundary condition to the surgical stapler operator and receiving one of a plurality of operator inputs. The plurality of entries may comprise a first entry and a second entry. The method may further comprise initiating a second operational state in response to operator input. The cutting element may be driven distally in response to the first inlet and may be retracted proximally in response to the second inlet.

A method for operating a surgical instrument may comprise initiating an initial surgical function, detecting a clinically important condition, communicating the clinically important condition to the surgical instrument operator, accepting an operator's input and performing a secondary surgical function based on the input. of the operator. Secondary surgical function may comprise continuing the initial surgical function or initiating a modified surgical function.

A system for controlling a surgical instrument may comprise a motor, and the motor may drive a trigger element during a trigger stroke. The system may also comprise a controller for controlling the motor, and the controller may be configured to operate in a plurality of operating states during the first stroke. The plurality of operating states may comprise one forward state and one retract state. The system may also comprise a sensor configured to detect a force on the trigger element, wherein the sensor and controller may be in signal communication. The controller may pause the triggering course when the sensor detects a force on the trigger element that exceeds a limit force. The system may also comprise a plurality of input keys, wherein the input keys and the controller may be in signal communication. The controller may resume the forward state when a first input key is activated, and the controller may initiate the retract state when a second input key is activated.

A surgical instrument may comprise a trigger element, a motor configured to drive the trigger element and a controller to control the motor. The controller may be configured for the surgical instrument operator in a plurality of operating states, and a plurality of operating states may comprise a trigger state for triggering the trigger element and a trigger state with alert for triggering the trigger element. The surgical instrument may also comprise means for operating the surgical instrument in the alert trigger state.

[00518] A surgical instrument may comprise a cable, a rod extending from the cable, an end actuator and a pivot joint connecting the end actuator to the stem. The surgical instrument may further comprise a trigger actuator relative to the end actuator when a triggering motion is applied to the trigger actuator, a pivot actuator configured to pivot the end actuator around the pivot joint when a pivoting motion is applied. The hinge is applied to the hinge driver, and a hinge lock is configured to releasably hold the hinge driver in position, wherein the hinge movement is configured to unlock the hinge lock.

A surgical instrument may comprise at least one drive system configured to generate control movements upon actuation and defining an actuation axis, at least one interchangeable stem assembly configured to be removably coupled to at least one system. in a direction substantially transverse to the drive shaft and transmitting the control movements of at least one drive system to a operably coupled surgical end actuator to said interchangeable rod assembly, and a locking assembly comprising locking means. interface to the interface with at least one drive system and to prevent actuation of the drive system unless at least one interchangeable rod assembly has been operably coupled to at least one drive system.

A surgical instrument incorporating a stem assembly may comprise an end actuator comprising the surgical staple cartridge and an anvil, wherein either the anvil, or the surgical staple cartridge is movable relative to or the anvil, or the surgical staple cartridge by applying an opening movement and a closing movement. The surgical instrument may further comprise a movable closing rod assembly configured to apply an opening and closing movement, a rod retaining structure operably supporting a portion of the movable closing rod assembly itself, a frame element, configured for removable coupling and operable with the stem clamping frame, a closing drive system operably supported by the frame element and defining an actuation shaft, the closing drive system being configured for the operable engagement with the closure rod assembly in a direction that is substantially transverse to the actuation axis when the rod attachment structure is in operable engagement with the frame member, and a locking assembly interfacing with the actuator drive system. closing to prevent the actuation of the closing drive system without any and the closing rod assembly is in operable engagement with the closing drive system.

A surgical instrument may comprise an end actuator, a rod that extends proximally from the end actuator and a pivot assembly configured to move the end actuator relative to the rod between an unpivoted position, a first range of pivotal positions on a first side of the non-pivotal position, and a second range of pivotal positions on a second side of the pivotal position, the first side being opposite the second side. The surgical instrument may additionally comprise a motor, a controller communicating with the motor, a first input configured to transmit a first input signal to the controller, wherein the controller is configured to enable the motor to move the end actuator to a non-pivoting position in the first pivot position range in response to the first input signal, a second input configured to enable the motor to move the end actuator to a pivot position in the second pivot position range in response to the second input signal , and a reset input configured to transmit a reset input signal to the controller, wherein the controller is configured to enable the motor to move the end actuator to the non-pivot position in response to the reset input signal.

[00522] Although various details have been stipulated in the preceding description, the various embodiments may be practiced without these specific details. For example, for brevity and clarity, selected aspects were shown in block diagrams rather than in detail. Some portions of the detailed descriptions provided in the present invention may be presented in terms of instructions that operate based on data stored in computer memory. These descriptions and representations are used by elements versed in the art to describe and represent the substance of their work to other elements versed in the art. In general, an algorithm refers to the self-consistent sequence of steps leading to the desired result, where a "step" refers to the manipulation of physical quantities that may, although not necessarily have to, take the form of electrical or magnetic signals that may be stored, transferred, combined, compared and otherwise manipulated. It is common use to call these signs bits, values, elements, symbols, characters, terms, numbers, or the like. These similar terms and terms may be associated with appropriate physical quantities and are merely convenient identifications applied to those quantities.

Unless stated otherwise, as is apparent from the preceding discussion, it is understood that throughout the preceding description, discussions using terms such as "processing" or "computation" or "calculation" or "determination "or" display ", or the like, refer to the action and processes of a computer or similar electronic computing device that manipulates and transforms the data represented as physical (electronic) quantities into the records and memories of the computer. computer in other data similarly represented in the form of physical quantities in the computer's memories or record, or other devices for storing, transmitting or displaying similar information.

In a general sense, those skilled in the art will recognize that the various aspects described are not present invention and that may be implemented individually and / or collectively by a wide range of hardware, software, firmware, or any combination thereof, can be seen as composed of various types of "electrical circuits". Accordingly, as used in the present invention "electrical circuit" includes, but is not limited to, electrical circuits having at least one discrete electrical circuit, electrical circuits having at least one integrated circuit, electrical circuits having at least one integrated circuit. for specific application, electrical circuits forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program that at least partially performs processes and / or devices described in the present invention , or a microprocessor configured by a computer program that can at least partially perform the processes and / or devices described in the present invention), electrical circuits that form a memory device (e.g., random access memory forms), and / or electrical circuits that form device s communications (for example, a modem, routers, or optical-electrical equipment). Those skilled in the art will recognize that the subject matter of the present invention may be implemented analogously or digitally, or in some combination thereof.

The foregoing detailed description has stipulated various embodiments of the devices and / or processes by the use of block diagrams, flowcharts and / or examples. Although such block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation in such block diagrams, flowcharts or examples may be implemented individually and / or coexitively, across a wide range of hardware, software, firmware, or virtually any combination of them. In one embodiment, various portions of the subject matter described in the present invention may be implemented by means of application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs) or other integrated formats. However, those skilled in the art will recognize that some aspects of the embodiments described in the present invention, in whole or in part, may be implemented equivalently in integrated circuits in the form of one or more computer programs running on one or more computers ( for example, in the form of one or more programs running on one or more computer systems), in the form of one or more programs running in one or more processors (for example, in the form of one or more programs running in one or more microprocessors), in the form of firmware or in the form of virtually any combination thereof, and the circuit design and / or the writing of the software and / or firmware code would be satisfactorily within the practice of an element skilled in the art in light of this. description. Furthermore, one skilled in the art will understand that the subject matter mechanisms described in the present invention are capable of being distributed as a program product in a variety of ways, and that an illustrative embodiment of the subject matter described in the present invention is applicable regardless of specific type of signal transmission medium used to effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to the following: recordable media such as a removable disk, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape, a computer memory, etc .; and a transmission medium, such as a digital and / or analog communication medium (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmit logic, receive logic, etc.), etc.).

Those skilled in the art will recognize that the components, devices, objects described in the present invention (e.g., operations) and the accompanying discussion are used as examples for conceptual clarity, and various configuration modifications are contemplated. Accordingly, as used in the present invention, the specific examples presented and the accompanying discussion are intended to be representative of their more general classes. In general, the use of any specific copy is intended to be representative of its class, and the non-inclusion of specific components, devices, and objects (eg, operations) should not be considered limiting.

With respect to the use of substantially any plural and / or singular terms in the present invention, those skilled in the art may change from plural to singular and / or from singular to plural as appropriate to the context and / or application. The various singular / plural permutations are not expressly set forth in the present invention for the sake of clarity.

The subject matter described in the present invention sometimes illustrates distinct components contained in, or related to, other distinct components. It is necessary to understand that these represented architectures are merely exemplary, and that in fact many other architectures that achieve the same functionality can be implemented. In the conceptual sense, any arrangement of components to achieve the same functionality is effectively "associated" if the desired functionality is achieved. Thus, any two components mentioned in the present invention that are combined to achieve specific functionality can be viewed as "associated" with each other if the desired functionality is achieved, regardless of the architectures or intermediate components. Similarly, either of these two components thus associated can also be viewed as being "operably connected" or "operably coupled" to each other to achieve the desired functionality, and either of these two components capable of being associated in such a manner can be viewed as "operably couplable" to each other to achieve the desired functionality. Specific examples of operably attachable components include, but are not limited to, physically engaging and / or physically interacting components, and / or those that may interact wirelessly, and / or interact interactively, and / or may interact by logic.

In some cases, one or more components may be referred to in the present invention as "configured for", "configurable for", "operable to", "adapted / adaptive to", "capable of", "conforming / conformed to ", etc. Those skilled in the art will recognize that "set to" may generally comprise components in active state, and / or components in idle state, and / or components in standby state, unless otherwise required by the context.

With respect to the appended claims, those skilled in the art will understand that the operations referred to therein may generally be performed in any order. Still, although various operating flows are presented in some sequence (s), it should be understood that the various operations may be performed in orders other than those illustrated, or may be performed concurrently. Examples of such alternate ordering may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplemental, concurrent, inverse, or other miscellaneous ordering, unless otherwise determined by context. Moreover, terms such as "responsive to", "related to", or other adjectival participles are not generally intended to exclude such variants unless the context otherwise requires.

Although various embodiments have been described in the present invention, many modifications, variations, substitutions, alterations and equivalents thereof may be implemented and will occur to those skilled in the art. Also, when materials are presented for certain components, other materials may be used. It is to be understood, therefore, that the foregoing description and the appended claims are intended to cover all such modifications and variations within the scope of the disclosed embodiments. The following claims are intended to encompass all such modifications and variations.

The description of US Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATED END EFFECTOR, filed April 22, 2010, is incorporated herein by reference in its entirety. Description of US Patent Application Serial No. 13 / 524,049, entitled ARTICLE-SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed June 15, 2012, is incorporated herein by reference in its entirety.

[00533] The devices described herein may be designed for disposal after single use, or they may be designed for multiple use. In either case, however, the device may be reconditioned for reuse after at least one use. Reconditioning may include any combination of the steps of removal of the joint arrangement of the device, followed by cleaning or replacement of particular parts, and subsequent rearrangement. In particular, the device may be removed from the arrangement together, and any number of particular parts or parts of the device may be selectively exchanged or removed in any combination. In cleaning and / or replacing specific parts, the device may be rearranged together for subsequent use in the reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning a device may use a variety of techniques for joint disposal, cleaning / replacement and joint repositioning. The use of such techniques and the resulting refurbished device are within the scope of this application.

Preferably, the invention described herein will be processed prior to surgery. First, a new or used instrument is obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is disposed in a sealed, closed container such as a plastic or TYVEK bag. The container and the instrument are then placed in a radiation field that can penetrate the container, such as gamma radiation, x-rays or high energy electrons. Radiation exterminates bacteria in the instrument and container. The sterile instrument can then be stored in a sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.

Any patent, publication or other disclosure material, in whole or in part, which is said to be incorporated by reference into the present invention, is incorporated into the present invention only to the extent that the incorporated materials do not enter into force. conflict with existing definitions, statements or other description material presented in this description. Accordingly, and to the extent necessary, the description as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, incorporated by reference in the present invention, but which conflicts with the definitions, statements, or other materials of the description set forth herein, will be incorporated herein only to the extent that no conflict arises between the embedded material and the material of the existing description.

In summary, numerous benefits have been described which result from employing the concepts described herein. The foregoing description of one or more embodiments has been presented for illustrative purposes and description. This description is not intended to be exhaustive or to limit the invention to the precise form given. Obvious modifications and variations are possible in light of the above teachings. One or more embodiments have been chosen and described for the purpose of illustrating the principles and practical application, thereby enabling the skilled artisan to utilize the various embodiments and the numerous modifications as appropriate to the particular use contemplated. The accompanying claims are intended to define the overall scope.

Claims (20)

A stem assembly attachable to a surgical instrument cable, characterized in that said stem assembly comprises: a stem comprising a connector portion configured to operably connect said stem to the cable; an end actuator; a pivot joint connecting said end actuator to said rod; a tripping actuator relative to said end actuator when a tripping motion is applied to said tripping actuator; a pivot driver configured to pivot said end actuator about said pivot joint when a pivot movement is applied to said pivot actuator; and a pivot lock configured to releasably hold said pivot driver in position, wherein said pivot movement is configured to unlock said pivot lock. Stem assembly according to claim 1, characterized in that said firing motion can generate said pivoting motion. Stem assembly according to claim 1, characterized in that it further comprises a staple cartridge comprising a plurality of staples removably stored therein. Stem assembly according to claim 1, characterized in that said pivot lock comprises: a first unidirectional lock configured to releasably resist movement of said pivot actuator in a first direction; and a second unidirectional lock configured to releasably resist movement of said pivot actuator in a second direction. Stem assembly according to claim 1, characterized in that an initial movement of said pivot actuator is configured to unlock said pivot lock, and a subsequent movement of said pivot actuator is configured to pivot the pivot. said end actuator. A stem assembly attachable to a surgical instrument cable, characterized in that said stem assembly comprises: a stem comprising: a connector portion configured to operably connect said stem to the cable; and a proximal end; an end actuator comprising a distal end; a pivot joint connecting said end actuator to said rod; a movable trigger actuator relative to said end actuator by a triggering movement; a pivot driver configured to pivot said end actuator about said pivot joint when a pivot movement is applied to said pivot actuator; and a pivot lock comprising: a first one-way lock configured to releasably resist proximal movement of said pivot driver; and a second unidirectional lock configured to releasably resist distal movement of said pivot driver. Stem assembly according to claim 6, characterized in that said firing movement can generate said pivoting movement. Stem assembly according to claim 6, characterized in that it further comprises a staple cartridge comprising a plurality of staples removably stored therein. Stem assembly according to claim 6, characterized in that said movement of said pivot actuator in a proximal direction is configured to unlock said first one-way lock, and wherein said movement of said articulation actuator. articulation in a distal direction is configured to unlock said second unidirectional lock. Stem assembly according to claim 6, characterized in that an initial movement of said pivot actuator is configured to unlock said first one-way lock or said second unidirectional lock and a subsequent movement of said pivot driver. pivot is configured to pivot said end actuator. A stem assembly attachable to a cord of a surgical instrument, characterized in that said stem assembly comprises: a stem comprising: a connector portion configured to operably connect said stem to the cable; and a proximal end; an end actuator comprising a distal end; a pivot joint connecting said end actuator to said rod; a movable trigger actuator relative to said end actuator by a triggering movement; a pivot drive system comprising: a proximal pivot drive; and a distal pivot actuator operably engaged with said end actuator; and a pivot lock configured to releasably hold said distal pivot actuator in position, wherein movement of said proximal pivot actuator is configured to unlock said pivot latch and actuate said distal pivot actuator. Stem assembly according to claim 11, characterized in that said firing motion can generate said pivoting motion. Stem assembly according to claim 11, characterized in that it further comprises a staple cartridge comprising a plurality of staples removably stored therein. Stem assembly according to claim 11, characterized in that said pivot lock may comprise: a first one-way lock configured to releasably resist proximal movement of said distal pivot driver; and a second unidirectional lock configured to releasably resist distal movement of said distal pivot driver. Stem assembly according to claim 14, characterized in that the movement of said proximal pivot actuator in a proximal direction is configured to unlock said first unidirectional lock, and wherein the movement of said pivot actuator Proximal in a distal direction is configured to unlock said second unidirectional lock. A stem assembly attachable to a surgical instrument cable, characterized in that said stem assembly comprises: a stem comprising: a connector portion configured to operably connect said stem to the cable; and a proximal end; an end actuator comprising a distal end; a pivot joint connecting said end actuator to said rod; a movable trigger actuator relative to said end actuator by a triggering movement; and a pivot drive system comprising: a first pivot drive; and a second pivot actuator operably engaged with said end actuator; and a pivot lock configured to releasably hold said second pivot actuator in position, wherein an initial movement of said first pivot actuator is configured to unlock said second pivot actuator, and a subsequent movement of said first pivot actuator. The pivot actuator is configured to drive said second pivot actuator. Stem assembly according to claim 16, further comprising a staple cartridge comprising a plurality of staples removably stored therein. Stem assembly according to claim 16, characterized in that said pivot lock may comprise: a first one-way lock configured to releasably resist movement of said second pivot actuator in a first direction; and a second unidirectional lock configured to releasably resist movement of said second pivot driver in a second direction. Stem assembly according to claim 18, characterized in that the movement of said first pivot actuator in said first direction is configured to unlock said first unidirectional lock, and wherein the movement of said first pivot actuator Articulation in a second direction is configured to unlock said second unidirectional lock. 20. Surgical instrument, characterized in that it comprises: a cable; a rod extending from said cable; an end actuator; a pivot joint connecting said end actuator to said rod; a tripping actuator relative to said end actuator when a tripping motion is applied to said tripping actuator; a pivot driver configured to pivot said end actuator about said pivot joint when a pivot movement is applied to said pivot actuator; and a pivot lock configured to releasably hold said pivot driver in position, wherein said pivot movement is configured to unlock said pivot lock.